Giusti, Andrea (2024) Modelling and Control of Spatial Behaviours in Multi-Agent Systems with Applications to Biology and Robotics. [Tesi di dottorato]
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| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Modelling and Control of Spatial Behaviours in Multi-Agent Systems with Applications to Biology and Robotics |
| Autori: | Autore Email Giusti, Andrea andrea.giusti@unina.it |
| Data: | Marzo 2024 |
| Numero di pagine: | 151 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dipartimento: | Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| Dottorato: | Computational and quantitative biology |
| Ciclo di dottorato: | 36 |
| Coordinatore del Corso di dottorato: | nome email Ceccarelli, Michele michele.ceccarelli@unina.it |
| Tutor: | nome email di Bernardo, Mario [non definito] |
| Data: | Marzo 2024 |
| Numero di pagine: | 151 |
| Parole chiave: | emerging behaviours, control theory, multi-agent systems, biology, swarm robotics |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica Area 09 - Ingegneria industriale e dell'informazione > ING-INF/06 - Bioingegneria elettronica e informatica |
| Depositato il: | 19 Giu 2024 12:20 |
| Ultima modifica: | 15 Apr 2026 09:23 |
| URI: | http://www.fedoa.unina.it/id/eprint/15577 |
Abstract
Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal interactions. These models can describe a rich variety of natural systems, as well as artificial ones, characterised by unparalleled scalability, robustness, and flexibility. Indeed, a crucial objective is devising efficient strategies to model and control the spatial behaviours of LS-MAS to achieve specific goals. However, the inherent complexity of these systems and the wide spectrum of their emerging behaviours pose significant challenges. The overarching goal of this thesis is, therefore, to advance methods for modelling, analyzing and controlling the spatial behaviours of LS-MAS, with applications to cellular populations and swarm robotics. The thesis begins with an overview of the existing Literature, and is then organized into two distinct parts. In the context of swarm robotics, Part I deals with distributed control algorithms to spatially organize agents on geometric patterns. The contribution is twofold, encompassing both the development of original control algorithms, and providing a novel formal analysis, which allows to guarantee the emergence of specific geometric patterns. In Part II, looking at the spatial behaviours of biological agents, experiments are carried out to study the movement of microorganisms and their response to light stimuli. This allows the derivation and parametrization of mathematical models that capture these behaviours, and pave the way for the development of innovative approaches for the spatial control of microorganisms. The results presented in the thesis were developed by leveraging formal analytical tools, simulations, and experiments, using innovative platforms and original computational frameworks.
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