This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we generate stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents. These control laws are a combination of attractive/repulsive and alignment forces, en...

A mathematical theory on flocking serves the foundation for several ubiquitous multi-agent phenomena in biology, ecology, sensor networks, economy, as well as social behavior like language emergence and evolution. Directly inspired by the recent fundamental works of Cucker and Smale on the construction and analysis of a generic flocking model, we study the emergent behavior of Cucker-Smale floc...

Flocking is an archetype emergent behavior that is displayed by a wide variety of groups and has been extensively studied in both biological and robotic communities. Still today, the exact requirements on the detail and type of information required for the production of flocking motion is unclear; moreover, these requirements have large potential impacts on biological plausibility and robotic i...

This is the second of a two-part paper, investigating the stability properties of a system of multiple mobile agents with double integrator dynamics. In this second part, we allow the topology of the control interconnections between the agents in the group to vary with time. Specifically, the control law of an agent depends on the state of a set of agents that are within a certain neighborhood ...

Swarm Intelligence (SI) is an artificial intelligence technique based around the study of collective behavior in decentralized, self-organized systems. SI systems are typically made up of a population of simple agents interacting locally with one another and with their environment. Although there is normally no centralized control structure dictating how individual agents should behave, local i...

We establish the global existence of weak solutions to a class of kinetic flocking equations. The models under conideration include the kinetic Cucker-Smale equation [6, 7] with possibly non-symmetric flocking potential, the Cucker-Smale equation with additional strong local alignment, and a newly proposed model by Motsch and Tadmor [14]. The main tools employed in the analysis are the velocity...

This paper investigates how emotions, in this case fear, affect behaviour. We consider deer and sheep as exemplary flocking mammals. The paper also describes and applies a mechanism to measure different types of flocking, using singular values and entropy to compute complexity. Results show that emotion can be used to regulate two competing and vital behaviours inherent in herding animals: the ...

In this paper the optimal control of flocking models with random inputs is investigated from a numerical point of view. The effect of uncertainty in the interaction parameters is studied for a Cucker-Smale type model using a generalized polynomial chaos (gPC) approach. Numerical evidence of threshold effects in the alignment dynamic due to the random parameters is given. The use of a selective ...

The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, limited field view (FOV) inherently restricts its performance. To cope with this issue, we propose a novel distributed active framework apply it to formation control swarms. Inspired by bird flocks nature, realize omnidirectional ...

OF THE DISSERTATION Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems by Sheida Ghapani Doctor of Philosophy, Graduate Program in Electrical Engineering University of California, Riverside, December 2016 Prof. Wei Ren, Chairperson A multi-agent system is defined as a col...