Connectivity Preservation and Collision Avoidance in Multi-Agent Systems Using Model Predictive Control
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Bibliographic record
Abstract
This paper presents an innovative predictive control scheme based on a potential field in order to maintain the connectivity of a flock of agents in a leader-follower configuration with dynamic topology. We consider a group of agents navigating in an environment with obstacles towards their target. The followers avoid collisions with each other and obstacles without using any communication links. It is also required to maintain connectivity with the leader, which is unidentified to the followers. The potential field is dynamically updated by introducing time-varying weighted links between the followers to preserve connectivity as we assume only the leader knows the target position. The values of these weights are adjusted continuously according to agents' trajectories by which the critical neighbours of each agent are determined. The superior performance of the proposed predictive controller for navigation of agents to quickly reach their target is demonstrated comparatively by simulation.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.002 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it