A learned decentralized controller with a graph-Laplacian cohesion loss gathers bearing-only ant robots up to 2.5x faster than the analytical baseline, but loses cohesion in the hardest settings.
Stability analysis of swarms,
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VariAntNet: Learning Decentralized Control of Multi-Agent Systems
A learned decentralized controller with a graph-Laplacian cohesion loss gathers bearing-only ant robots up to 2.5x faster than the analytical baseline, but loses cohesion in the hardest settings.