Hossein Barghi Jond presents A Minimal Model for Emergent Collective Behaviors in Autonomous Robotic Multiagent Systems
On 2026-04-23 11:00:00 at E112, Karlovo náměstí 13, Praha 2
Collective behaviors such as swarming and flocking emerge from simple,
decentralized interactions in biological systems. Existing models, such as
Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber
model imposes rigid formations, limiting their applicability in swarm robotics.
To address these limitations, this article proposes a minimal yet expressive
model that governs agent dynamics using relative positions, velocities, and
local density, modulated by two tunable parameters: the spatial offset and
kinetic offset. The model achieves spatially flexible, collision-free behaviors
that reflect naturalistic group dynamics. Furthermore, we extend the framework
to cognitive autonomous systems, enabling energy-aware phase transitions
between
swarming and flocking through adaptive control parameter tuning. This
cognitively inspired approach offers a robust foundation for real-world
applications in multirobot systems, particularly autonomous aerial swarms. The
talk will be concise, lasting under 20 minutes.
Paper: H. B. Jond, "A Minimal Model for Emergent Collective Behaviors in
Autonomous Robotic Multiagent Systems," in IEEE Transactions on Cognitive and
Developmental Systems, vol. 18, no. 2, pp. 373-384, April 2026, doi:
10.1109/TCDS.2025.3598690.
Link: https://doi.org/10.1109/TCDS.2025.3598690
decentralized interactions in biological systems. Existing models, such as
Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber
model imposes rigid formations, limiting their applicability in swarm robotics.
To address these limitations, this article proposes a minimal yet expressive
model that governs agent dynamics using relative positions, velocities, and
local density, modulated by two tunable parameters: the spatial offset and
kinetic offset. The model achieves spatially flexible, collision-free behaviors
that reflect naturalistic group dynamics. Furthermore, we extend the framework
to cognitive autonomous systems, enabling energy-aware phase transitions
between
swarming and flocking through adaptive control parameter tuning. This
cognitively inspired approach offers a robust foundation for real-world
applications in multirobot systems, particularly autonomous aerial swarms. The
talk will be concise, lasting under 20 minutes.
Paper: H. B. Jond, "A Minimal Model for Emergent Collective Behaviors in
Autonomous Robotic Multiagent Systems," in IEEE Transactions on Cognitive and
Developmental Systems, vol. 18, no. 2, pp. 373-384, April 2026, doi:
10.1109/TCDS.2025.3598690.
Link: https://doi.org/10.1109/TCDS.2025.3598690