3 papers
cs.RO2026
Agree to Disagree: Consensus-Free Flocking under Constraints
Peter Travis Jardine, Sidney Givigi
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditi…
cs.RO2025
Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, ou…
eess.SY2024
Emergent Structure in Multi-agent Systems Using Geometric Embeddings
Dimitria Silveria, Kleber Cabral, Peter Jardine +1
This work investigates the self-organization of multi-agent systems into closed trajectories, a common requirement in unmanned aerial vehicle (UAV) surveillance tasks. In such scen…