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Declarative vs Rule-based Control for Flocking Dynamics [article]

Usama Mehmood, Nicola Paoletti, Dung Phan, Radu Grosu, Shan Lin, Scott D. Stoller, Ashish Tiwari, Junxing Yang, Scott A. Smolka
2017 arXiv   pre-print
The popularity of rule-based flocking models, such as Reynolds' classic flocking model, raises the question of whether more declarative flocking models are possible.  ...  We refer to it as {\textit declarative flocking} (DF). We use model-predictive control (MPC) to define controllers for DF in centralized and distributed settings.  ...  With the introduction of Reynolds' model [12, 13] , rule-based control became the norm in the flocking community.  ... 
arXiv:1710.10013v1 fatcat:3tr72svpznbgrb7hl2ce63efzu

DReAM: Dynamic Reconfigurable Architecture Modeling (full paper) [article]

Rocco De Nicola, Alessandro Maggi, Joseph Sifakis
2018 arXiv   pre-print
The "DReAM" (Dynamic Reconfigurable Architecture Modeling) framework, has been designed for modeling reconfigurable dynamic systems.  ...  It provides a rule-based language, inspired from Interaction Logic, which is expressive and easy to use encompassing all aspects of dynamicity including parametric multi-modal coordination with creation  ...  Here, we consider two criteria for the classification of existing approaches: exogenous vs. endogenous and declarative vs. imperative modeling.  ... 
arXiv:1805.03724v2 fatcat:ukvmf572pvdwhgj5q3mw2rskpi

Coordination of multiple mobile robots via communication

Huosheng Hu, Ian Kelly, David A. Keating, David Vinagre, Howie M. Choset, Douglas W. Gage, Pushkin Kachroo, Mikhail A. Kourjanski, Marten J. de Vries
1999 Mobile Robots XIII and Intelligent Transportation Systems  
The developed system is demonstrated by two examples such as flocking and shared experience learning.  ...  More specifically, the aim of our research is to develop a team of coordinating mobile robots via effective communication for real world applications.  ...  The rule for choosing a leader and the flocking operation of a team of mobile robots are as follows: 1. Avoid obstacle using safeguard behaviour with highest priority, based on sonar data. 5.  ... 
doi:10.1117/12.335688 dblp:conf/mr/HuKKV98 fatcat:2g5dgr5uejd57ns4qtk7xt5xoq

A Biologically-Inspired Power Control Algorithm for Energy-Efficient Cellular Networks

Hyun-Ho Choi, Jung-Ryun Lee
2016 Energies  
In this paper, we propose a distributed transmit power control (TPC) algorithm inspired by bird flocking behavior as a means of improving the energy efficiency of a cellular network.  ...  rate of the co-channel MSs in adjacent cells by controlling the transmit power of its serving BS.  ...  Jung-Ryun Lee was responsible for theoretical analysis, derivation, coordination and proof reading. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/en9030161 fatcat:qgd2x3dtvjdlbismqlzhvz66te

Multi-Agent Cooperative Control Consensus: A Comparative Review

Muhammad Majid Gulzar, Syed Tahir Hussain Rizvi, Muhammad Yaqoob Javed, Umer Munir, Haleema Asif
2018 Electronics  
A summary of theoretical results regarding consensus for agreement analysis for complex dynamic systems and time-invariant information exchange topologies is briefly described in a unified way.  ...  Theoretical progress in consensus that includes convergence analysis for the time-invariant and dynamic state, consensus speed and heterogeneous agents is presented in Section 3.  ...  (a) x-axis vs time (b) y-axis vs time (c) x-axis vs y-axis. Figure 8 . 8 Formation Control Setup (a) Displacement based formation (b) Distance-based formation.  ... 
doi:10.3390/electronics7020022 fatcat:vieefonb35ezjcg7uy2u3fodyi

Autonomous Shepherding Behaviors of Multiple Target Steering Robots

2017 Sensors  
In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated.  ...  This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s17122729 pmid:29186836 pmcid:PMC5751650 fatcat:5fx2ypqzgzbtpdqokvv6tn5iq4

Morphogenetic Engineering: Reconciling Self-Organization and Architecture [chapter]

René Doursat, Hiroki Sayama, Olivier Michel
2012 Understanding Complex Systems  
The declarative approach of MGS is based on the notion of topological collection, which arises naturally when trying to model "dynamical systems with a dynamic structure".  ...  They are all based on a multitude of components, modules, software agents, devices and/or human users that create their own network and collective dynamics solely on the basis of local rules and peer-topeer  ... 
doi:10.1007/978-3-642-33902-8_1 fatcat:z37vhhqfnnahrhfs4m73l7q7gu

Sensing and Connection Systems for Assisted and Autonomous Driving and Unmanned Vehicles

Sergio Saponara
2018 Sensors  
The special issue, "Sensors, Wireless Connectivity and Systems for Autonomous Vehicles and Smart Mobility" on MDPI Sensors presents 12 accepted papers, with authors from North America, Asia, Europe and  ...  Australia, related to the emerging trends in sensing and navigation systems (i.e., sensors plus related signal processing and understanding techniques in multi-agent and cooperating scenarios) for autonomous  ...  Conflicts of Interest: The author declares no conflict of interest.  ... 
doi:10.3390/s18071999 pmid:29932130 pmcid:PMC6068971 fatcat:pft6ftjaznhjnjzlxept72cm3e

Scientific Opinion on the scrapie situation in the EU after 10 years of monitoring and control in sheep and goats

2014 EFSA Journal  
Based on information collected from MSs, the potential effectiveness of these BP-CS in the dissemination of resistance into the general sheep population was assessed for those countries for which the CS  ...  The different control options available for CS in sheep and goats are discussed.  ...  on the number of flocks in HGMF vs.  ... 
doi:10.2903/j.efsa.2014.3781 fatcat:kieezrt6yndnnaivwcabp5saiq

Phases and excitations of active rod-bead mixtures: simulations and experiments [article]

Harsh Soni, Nitin Kumar, Jyothishraj Nambisan, Rahul Kumar Gupta, A. K. Sood, Sriram Ramaswamy
2020 arXiv   pre-print
For low rod concentrations Φ_r we observe a direct phase transition, as bead concentration Φ_b is increased, from the isotropic phase to a homogeneous flock.  ...  For Φ_r above a threshold value, an ordered band dense in both rods and beads occurs between the disordered phase and the homogeneous flock, in both experiments and simulations.  ...  Acknowledgements NK, HS and JN thank the UGC, the CSIR and the Science Academies' Summer Research Fellowship respectively for support.  ... 
arXiv:2001.00173v1 fatcat:ke5yan7zi5glzbemk3576224y4

Interaction ruling animal collective behavior depends on topological rather than metric distance: Evidence from a field study

M. Ballerini, N. Cabibbo, R. Candelier, A. Cavagna, E. Cisbani, I. Giardina, V. Lecomte, A. Orlandi, G. Parisi, A. Procaccini, M. Viale, V. Zdravkovic
2008 Proceedings of the National Academy of Sciences of the United States of America  
Numerical models indicate that collective animal behaviour may emerge from simple local rules of interaction among the individuals.  ...  By reconstructing the three-dimensional position of individual birds in airborne flocks of few thousands members, we prove that the interaction does not depend on the metric distance, as most current models  ...  The authors declare no conflict of interest.  ... 
doi:10.1073/pnas.0711437105 pmid:18227508 pmcid:PMC2234121 fatcat:w3myn3usujdy5ef3ucyt6fsewm

Dynamics of Neospora caninum-Associated Abortions in A Dairy Sheep Flock and Results of a Test-and-Cull Control Programme

Roberto Sánchez-Sánchez, Ángela Vázquez-Calvo, Mercedes Fernández-Escobar, Javier Regidor-Cerrillo, Julio Benavides, Jorge Gutiérrez, Daniel Gutiérrez-Expósito, Francisco José Crespo-Ramos, Luis Miguel Ortega-Mora, Gema Álvarez-García
2021 Pathogens  
A control programme based on selective culling of seropositive sheep and replacement with seronegative animals was effective in reducing the abortion rate to 7.2%.  ...  In this study, we described the infection dynamics in a dairy sheep flock with an abortion rate up to 25% and a N. caninum seroprevalence of 32%.  ...  We also thank the farmers of the flock for giving us the opportunity to use the reproductive data and the diagnostic results for scientific purposes and Marta Silva, from the IGM, for her assistance in  ... 
doi:10.3390/pathogens10111518 pmid:34832673 pmcid:PMC8625302 fatcat:3xiwsmddkncshhqebtboideufy

Seroprevalence of border disease virus and other pestiviruses in sheep in Algeria and associated risk factors

Naouel Feknous, Jean-Baptiste Hanon, Marylène Tignon, Hamza Khaled, Abdallah Bouyoucef, Brigitte Cay
2018 BMC Veterinary Research  
The true seroprevalence based on estimated sensitivity and specificity of the Ab-ELISA was 68.20% (95% C.I.; 60.2-76.3).  ...  the detection of neutralizing antibodies specific for BDV and for Bovine virus diarrhea virus (BVDV-1 and BVDV-2).  ...  Competing interests The authors declare that they have no competing interests.  ... 
doi:10.1186/s12917-018-1666-y pmid:30419908 pmcid:PMC6233519 fatcat:5ni4siur45b65c5sksgxmydhm4

Flock-level risk factors for outbreaks of infectious arthritis in lambs, Norway 2018

Marit Smistad, Cecilia Wolff, Tore Tollersrud, Vibeke Tømmerberg, Clare Phythian, Annette Hegermann Kampen, Hannah Joan Jørgensen
2020 Acta Veterinaria Scandinavica  
This questionnaire-based cross-sectional study classified sheep flocks of respondents as cases or controls.  ...  The results provide a basis for further studies on transmission dynamics of SDSD in sheep flocks with indoor lambing.  ...  Acknowledgements The farmers who tested and responded to the questionnaire are gratefully acknowledged for their contributions.  ... 
doi:10.1186/s13028-020-00561-z pmid:33228728 fatcat:wyqxpgr2hrbpzcymjkzbekenmi

Langevin Dynamics with Variable Coefficients and Nonconservative Forces: From Stationary States to Numerical Methods

Matthias Sachs, Benedict Leimkuhler, Vincent Danos
2017 Entropy  
Langevin dynamics is a versatile stochastic model used in biology, chemistry, engineering, physics and computer science.  ...  We examine theoretical issues such as stability of the steady state and ergodic properties, as well as practical aspects such as the design of numerical methods for stochastic particle models.  ...  Acknowledgments: The research of all three authors was supported by the ERC project RULE (grant number 320823).  ... 
doi:10.3390/e19120647 fatcat:vyolsdb7orepfjc2s73qhfv7e4
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