Emergent Structure in Multi-agent Systems Using Geometric Embeddings
Bibliographic record
Abstract
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 scenarios, smooth, unbiased control signals save energy and mitigate mechanical strain. We propose a decentralized control system architecture that produces a globally stable emergent structure from local observations only; there is no requirement for agents to share a global plan or follow prescribed trajectories. Central to our approach is the formulation of an injective virtual embedding induced by rotations from the actual agent positions. This embedding serves as a structure-preserving map around which all agent stabilize their relative positions and permits the use of well-established linear control techniques. We construct the embedding such that it is topologically equivalent to the desired trajectory (i.e., a homeomorphism), thereby preserving the stability characteristics. We demonstrate the versatility of this approach through implementation on a swarm of Quanser QDrone quadcopters. Results demonstrate the quadcopters self-organize into the desired trajectory while maintaining even separation.
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How this classification was reachedexpand
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 | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".