Large dense crowds show aggregate behavior with reduced individual freedom of
movement. We present a novel, scalable approach for simulating such crowds, using a dual …

There is increasing evidence that fish gain energetic benefits from the hydrodynamic
interactions when they swim in a school. The most recent indications of such benefits are a …

This paper introduces a methodology for modelling, analysis, and control design of a large-
scale system of agents deployed in 3-D space. The agents' communication graph is a mesh …

We introduce an approach for stable deployment of agents onto families of planar curves,
namely, 1-D formations in 2-D space. The agents' collective dynamics are modeled by the …

The focus of this study is on the design of feedback control laws for swarms of robots that are
based on models from fluid dynamics. We apply an incompressible fluid model to solve a …

We formulate and solve an optimal control problem in which a finite dimensional linear time
invariant (LTI) control system steers a given Gaussian probability density function (PDF) …

We present an approach to designing scalable, decentralized control policies that produce a
desired collective behavior in a spatially inhomogeneous robotic swarm that emulates a …

A new refined flocking model that includes self-propelling, friction, attraction and repulsion,
and alignment features is presented. This model takes into account various behavioral …

This paper presents a method to control the probability density distribution of a swarm of
vehicles via velocity fields. The proposed approach synthesizes smooth velocity fields …

In this paper, we study the problem of controlling a two-dimensional robotic swarm with the
purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio …