Social groups such as schools of fish or flocks of birds display collective dynamics that can be modulated by group leaders, which facilitate decision-making toward a consensus state beneficial to the entire group. For instance, leaders could alert the group about attacking predators or the presence of food sources. Motivated by biological insight on social groups, we examine a stochastic leader–follower consensus problem where information sharing among agents is affected by perceptual constraints and each individual has a different tendency to form social connections. Leveraging tools from stochastic stability and eigenvalue perturbation theories, we study the consensus protocol in a mean-square sense, offering necessary-and-sufficient conditions for asymptotic stability and closed-form estimates of the convergence rate. Surprisingly, the prediction of our minimalistic model share similarities with observed traits of animal and human groups. Our analysis anticipates the counterintuitive result that heterogeneity can be beneficial to group decision-making by improving the convergence rate of the consensus protocol. This observation finds support in theoretical and empirical studies on social insects such as spider or honeybee colonies, as well as human teams, where inter-individual variability enhances the group performance.
more »
« less
Nonverbal leadership emergence in walking groups
Abstract The mechanisms underlying the emergence of leadership in multi-agent systems are under investigation in many areas of research where group coordination is involved. Nonverbal leadership has been mostly investigated in the case of animal groups, and only a few works address the problem in human ensembles, e.g. pedestrian walking, group dance. In this paper we study the emergence of leadership in the specific scenario of a small walking group. Our aim is to propose a rigorous mathematical methodology capable of unveiling the mechanisms of leadership emergence in a human group when leader or follower roles are not designated a priori. Two groups of participants were asked to walk together and turn or change speed at self-selected times. Data were analysed using time-dependent cross correlation to infer leader-follower interactions between each pair of group members. The results indicate that leadership emergence is due both to contextual factors, such as an individual’s position in the group, and to personal factors, such as an individual’s characteristic locomotor behaviour. Our approach can easily be extended to larger groups and other scenarios such as team sports and emergency evacuations.
more »
« less
- Award ID(s):
- 1849446
- PAR ID:
- 10214047
- Date Published:
- Journal Name:
- Scientific Reports
- Volume:
- 10
- Issue:
- 1
- ISSN:
- 2045-2322
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
There is a growing recognition of the need for interdisciplinarity in science, technology, engineering and mathematics (STEM) education. The purpose of the present study is to identify antecedents, processes, and outcomes of an interdisciplinary, collaborative conference and ongoing collaboration. The Breaking Boundaries in STEM education conference was developed with multiple goals, including fostering collaborative interdisciplinary scientific writing for publication among teacher-scholars who participated in one of three interdisciplinary working groups. One hundred teacher-scholars with interest in STEM education participated in the conference. A comparative study of three working groups from the conference was conducted using a triangulation of qualitative and quantitative methods. Surveys and behavioral observations were completed at the conference, and phone interviews with attendees were conducted 3-4 months later. Groups varied in their readiness to collaborate. Several themes emerged that might explain why one group was highly productive, one group was moderately productive, and one group was not productive at completing publications after the conference. Groups with a narrower disciplinary span, stronger leadership presence, a paper champion, motivated leader, and a leader with a strong recent history of publishing on the topic, were more ready to collaborate, and they experienced faster, smoother completion of publications. Further research and more passage of time, such as a few years, is needed to determine the quantity, quality, span of disciplinarity, novelty, and generativity of the publications over time. The generalizability of these themes to other interdisciplinary collaborative studies is briefly discussed.more » « less
-
Abstract We study a class of bilevel spanning tree (BST) problems that involve two independent decision‐makers (DMs), the leader and the follower with different objectives, who jointly construct a spanning tree in a graph. The leader, who acts first, selects an initial subset of edges that do not contain a cycle, from the set under her control. The follower then selects the remaining edges to complete the construction of a spanning tree, but optimizes his own objective function. If there exist multiple optimal solutions for the follower that result in different objective function values for the leader, then the follower may choose either the one that is the most (optimistic version) or least (pessimistic version) favorable to the leader. We study BST problems with the sum‐ and bottleneck‐type objective functions for the DMs under both the optimistic and pessimistic settings. The polynomial‐time algorithms are then proposed in both optimistic and pessimistic settings for BST problems in which at least one of the DMs has the bottleneck‐type objective function. For BST problem with the sum‐type objective functions for both the leader and the follower, we provide an equivalent single‐level linear mixed‐integer programming formulation. A computational study is then presented to explore the efficacy of our reformulation.more » « less
-
In this paper, a distributed swarm control problem is studied for large-scale multi-agent systems (LS-MASs). Different than classical multi-agent systems, an LS-MAS brings new challenges to control design due to its large number of agents. It might be more difficult for developing the appropriate control to achieve complicated missions such as collective swarming. To address these challenges, a novel mixed game theory is developed with a hierarchical learning algorithm. In the mixed game, the LS-MAS is represented as a multi-group, large-scale leader–follower system. Then, a cooperative game is used to formulate the distributed swarm control for multi-group leaders, and a Stackelberg game is utilized to couple the leaders and their large-scale followers effectively. Using the interaction between leaders and followers, the mean field game is used to continue the collective swarm behavior from leaders to followers smoothly without raising the computational complexity or communication traffic. Moreover, a hierarchical learning algorithm is designed to learn the intelligent optimal distributed swarm control for multi-group leader–follower systems. Specifically, a multi-agent actor–critic algorithm is developed for obtaining the distributed optimal swarm control for multi-group leaders first. Furthermore, an actor–critic–mass method is designed to find the decentralized swarm control for large-scale followers. Eventually, a series of numerical simulations and a Lyapunov stability proof of the closed-loop system are conducted to demonstrate the performance of the developed scheme.more » « less
-
Learning Environment Constraints in Collaborative Robotics: A Decentralized Leader-Follower ApproachIn this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to obstacles in their proximity. We consider no explicit communication, so the local environment information and the control actions are not shared between the robots. At any given time step, the leader solves a model predictive control (MPC) problem with its known set of obstacles and plans a feasible trajectory to complete the task. The follower estimates the inputs of the leader and uses a policy to assist the leader while reacting to obstacles in its proximity. The leader infers obstacles in the follower’s vicinity by using the difference between the predicted and the real-time estimated follower control action. A method to switch the leader-follower roles is used to improve the control performance in tight environments. The efficacy of our approach is demonstrated with detailed comparisons to two alternative strategies, where it achieves the highest success rate, while completing the task fastest.more » « less
An official website of the United States government

