Most of existing crowd simulation algorithms focus on the moving trajectories of individual agents, while collective group formations are often roughly learned from video examples or manually specified via various hard constraints (e.g., pre-defined keyframes of exact agent distributions). In this paper, we present an intuitive yet efficient approach to generate arbitrary and precise group form...

This paper considers the problem of reduction of self-localization errors in multi-agent autonomous formations when only distance measurements are available to the agents in a globally rigid formation. It is shown that there is a relationship between different selections of anchors, agents with exactly known positions, and the error induced by measurement error on localization solution. This fa...

This paper studies distributed control of bearing-constrained multiagent formations using bearing-only measurements. In order to analyze bearing-constrained formations, we first present a bearing rigidity theory that is applicable to arbitrary dimensions. Based on the proposed bearing rigidity theory, we investigate distributed bearing-only formation control in arbitrary dimensions in the prese...

at the boundary between jurassic and cretaceous, because of late kimmerian movements, the sea ragressed from many areas of north and cantral iran, and many continental areas rose, which included a number of differentiated basins. the boundary between jurassic and cretaceous in these parts of iran is usually marked by a big diastem or by red, clastic and evaporitic sediments. the whole or part o...

Large herbivorous vertebrates have strong interactions with vegetation, affecting the structure, composition and dynamics of plant communities in many ways. Living large herbivores are a small remnant of the assemblages of giants that existed in most terrestrial ecosystems 50,000 years ago. The extinction of so many large herbivores may well have triggered large changes in plant communities. In...

This paper outlines the design of an autonomous flying vehicle (AFV) for use in researching formation flying. Specifically, we have designed a small autonomous model helicopter as a reference vehicle. Once several more units have been constructed, these vehicles will form a test bed for formation experiments. In this paper various design decisions are presented as well as results from early tes...

We consider flocks of artificial birds and study the emergence of V-like formations during flight. We introduce a small set of fully distributed positioning rules to guide the birds' movements and demonstrate, by means of simulations, that they tend to lead to stabilization into several of the well-known V-like formations that have been observed in nature. We also provide quantitative indicator...