Detection of Dynamically Changing Leaders in Complex Swarms from Observed Dynamic Data

Mavridis, Christos N.; Suriyarachchi, Nilesh; Baras, John S.

doi:10.1007/978-3-030-64793-3_12

Cited by 9 publications

(3 citation statements)

References 25 publications

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“…We are interested in formal hydrodynamic limits of particle dynamics subject to velocity alignment, attraction, repulsion, self-propulsion, and containment forces in bounded regions. Similar particle systems arise in design of controls for autonomous vehicles or UAVs using virtual forces [8,17].…”

Section: Introductionmentioning

confidence: 96%

“…In the last two decades, considerable interest has been shown in models of collective behavior across a variety of scientific fields, including pedestrian traffic, ecology, and robotics. A particular area of this interest is in using insights gained from biological flocking and swarming to construct controls for large teams of UAVs [1,2,3,4,5,6,7,8].…”

Section: Introductionmentioning

confidence: 99%

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Weak Solutions to an Euler Alignment System in a Bounded Domain

Amoolya¹,

Mavridis²,

Baras³

2021

Preprint

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Euler alignment systems appear as hydrodynamic limits of interacting self-propelled particle systems such as the (generalized) Cucker-Smale model. In this work, we study weak solutions to an Euler alignment system on smooth, bounded domains. This particular Euler alignment system includes singular alignment, attraction, and repulsion interaction kernels which correspond to a Yukawa potential. We also include a confinement potential and self-propulsion. We embed the problem into an abstract Euler system to conclude that infinitely many weak solutions exist. We further show that we can construct solutions satisfying bounds on an energy quantity, and that the solutions satisfy a weak-strong uniqueness principle. Finally, we present an addition of leader-agents governed by controlled ODEs, and modification of the interactions to be Bessel potentials of fractional order s > 2.

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Section: Introductionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

Weak Solutions to an Euler Alignment System in a Bounded Domain

Amoolya¹,

Mavridis²,

Baras³

2021

Preprint

Self Cite

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“…Recent studies point out that pHS frameworks are also relevant modelling approaches for multi-agent systems [30]. Port-Hamiltonian multi-agent systems appear, for instance, in reliability engineering, for complex mechanical systems [31,32], consensus and opinion formation [33][34][35][36][37], multi-input multi-output multi-agent systems [38], swarm behaviour [39,40], or autonomous vehicles, e.g. path-tracking [41] or for modelling and safety analysis of ACC systems [42][43][44][45].…”

Section: Introductionmentioning

confidence: 99%

Stability analysis of a stochastic port-Hamiltonian car-following model

Rüdiger,

Tordeux,

Ugurcan

2024

J. Phys. A: Math. Theor.

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Port-Hamiltonian systems are pertinent representations of many nonlinear physical systems. In this study, we formulate and analyse a general class of stochastic car-following models with a systematic port-Hamiltonian structure. The model class is a generalisation of classical car-following approaches, including the optimal velocity model of Bando et al (1995 Phys. Rev. E 51 1035), the full velocity difference model of Jiang et al (2001 Phys. Rev. E 64 017101), and recent stochastic following models based on the Ornstein–Uhlenbeck process. In contrast to traditional models where the interaction is totally asymmetric (i.e. depending only on the speed and distance to the predecessor), the port-Hamiltonian car-following model also depends on the distance to the follower. We determine the exact stability condition of the finite system with N vehicles and periodic boundaries. The stable system is ergodic with a unique Gaussian invariant measure. Other properties of the model are studied using numerical simulation. It turns out that the Hamiltonian component improves the flow stability and reduces the total energy in the system. Furthermore, it prevents the problematic formation of stop-and-go waves with oscillatory dynamics, even in the presence of stochastic perturbations.

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Identification of Piecewise Affine Systems with Online Deterministic Annealing

Mavridis,

Baras

2023

2023 62nd IEEE Conference on Decision and Control (CDC)

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Detection of Dynamically Changing Leaders in Complex Swarms from Observed Dynamic Data

Cited by 9 publications

References 25 publications

Weak Solutions to an Euler Alignment System in a Bounded Domain

Weak Solutions to an Euler Alignment System in a Bounded Domain

Stability analysis of a stochastic port-Hamiltonian car-following model

Identification of Piecewise Affine Systems with Online Deterministic Annealing

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