---
_id: '64979'
abstract:
- lang: eng
text: We investigate homogeneous coupled cell systems with high-dimensional internal
dynamics. In many studies on network dynamics, the analysis is restricted to networks
with one-dimensional internal dynamics. Here, we show how symmetry explains the
relation between dynamical behavior of systems with one-dimensional internal dynamics
and with higher dimensional internal dynamics, when the underlying network topology
is the same. Fundamental networks of homogeneous coupled cell systems (B. Rink,
J. Sanders. Coupled Cell Networks and Their Hidden Symmetries. SIAM J. Math. Anal.
46.2 (2014)) can be expressed in terms of monoid representations, which uniquely
decompose into indecomposable subrepresentations. In the high-dimensional internal
dynamics case, these subrepresentations are isomorphic to multiple copies of those
one computes in the one-dimensional internal dynamics case. This has interesting
implications for possible center subspaces in bifurcation analysis. We describe
the effect on steady state and Hopf bifurcations in l-parameter families of network
vector fields. The main results in that regard are that (1) generic one-parameter
steady state bifurcations are qualitatively independent of the dimension of the
internal dynamics and that, (2) in order to observe all generic l-parameter bifurcations
that may occur for internal dynamics of any dimension, the internal dynamics has
to be at least l-dimensional for steady state bifurcations and 2l-dimensional
for Hopf bifurcations. Furthermore, we illustrate how additional structure in
the network can be exploited to obtain even greater understanding of bifurcation
scenarios in the high-dimensional case beyond qualitative statements about the
collective dynamics. One-parameter steady state bifurcations in feedforward networks
exhibit an unusual amplification in the asymptotic growth rates of individual
cells, when these are one-dimensional (S. von der Gracht, E. Nijholt, B. Rink.
Amplified steady state bifurcations in feedforward networks. Nonlinearity 35.4
(2022)). As another main result, we prove that (3) the same cells exhibit this
amplifying effect with the same growth rates when the internal dynamics is high-dimensional.
article_number: '118196'
article_type: original
author:
- first_name: Sören
full_name: von der Gracht, Sören
id: '97359'
last_name: von der Gracht
orcid: 0000-0002-8054-2058
- first_name: Eddie
full_name: Nijholt, Eddie
last_name: Nijholt
- first_name: Bob
full_name: Rink, Bob
last_name: Rink
citation:
ama: von der Gracht S, Nijholt E, Rink B. Homogeneous coupled cell systems with
high-dimensional internal dynamics. Chaos, Solitons & Fractals. 2026;208.
doi:10.1016/j.chaos.2026.118196
apa: von der Gracht, S., Nijholt, E., & Rink, B. (2026). Homogeneous coupled
cell systems with high-dimensional internal dynamics. Chaos, Solitons &
Fractals, 208, Article 118196. https://doi.org/10.1016/j.chaos.2026.118196
bibtex: '@article{von der Gracht_Nijholt_Rink_2026, title={Homogeneous coupled cell
systems with high-dimensional internal dynamics}, volume={208}, DOI={10.1016/j.chaos.2026.118196},
number={118196}, journal={Chaos, Solitons & Fractals}, publisher={Elsevier
BV}, author={von der Gracht, Sören and Nijholt, Eddie and Rink, Bob}, year={2026}
}'
chicago: Gracht, Sören von der, Eddie Nijholt, and Bob Rink. “Homogeneous Coupled
Cell Systems with High-Dimensional Internal Dynamics.” Chaos, Solitons &
Fractals 208 (2026). https://doi.org/10.1016/j.chaos.2026.118196.
ieee: 'S. von der Gracht, E. Nijholt, and B. Rink, “Homogeneous coupled cell systems
with high-dimensional internal dynamics,” Chaos, Solitons & Fractals,
vol. 208, Art. no. 118196, 2026, doi: 10.1016/j.chaos.2026.118196.'
mla: von der Gracht, Sören, et al. “Homogeneous Coupled Cell Systems with High-Dimensional
Internal Dynamics.” Chaos, Solitons & Fractals, vol. 208, 118196, Elsevier
BV, 2026, doi:10.1016/j.chaos.2026.118196.
short: S. von der Gracht, E. Nijholt, B. Rink, Chaos, Solitons & Fractals 208
(2026).
date_created: 2026-03-16T08:39:07Z
date_updated: 2026-03-16T08:42:56Z
ddc:
- '510'
department:
- _id: '101'
- _id: '841'
doi: 10.1016/j.chaos.2026.118196
external_id:
arxiv:
- '2510.06740'
file:
- access_level: closed
content_type: application/pdf
creator: svdg
date_created: 2026-03-16T08:40:04Z
date_updated: 2026-03-16T08:40:04Z
file_id: '64980'
file_name: homogeneous-coupled-cell-systems-with-high-dimensional-internal-dynamics.pdf
file_size: 1951746
relation: main_file
success: 1
file_date_updated: 2026-03-16T08:40:04Z
has_accepted_license: '1'
intvolume: ' 208'
keyword:
- Coupled cell systems
- Network dynamics
- Dimension reduction
- Bifurcation theory
- Symmetry
- Monoid representation theory
language:
- iso: eng
publication: Chaos, Solitons & Fractals
publication_identifier:
issn:
- 0960-0779
publication_status: published
publisher: Elsevier BV
status: public
title: Homogeneous coupled cell systems with high-dimensional internal dynamics
type: journal_article
user_id: '97359'
volume: 208
year: '2026'
...
---
_id: '58953'
abstract:
- lang: eng
text: In this article, we investigate symmetry properties of distributed systems
of mobile robots. We consider a swarm of n robots in the OBLOT model and analyze
their collective Fsync dynamics using of equivariant dynamical systems theory.
To this end, we show that the corresponding evolution function commutes with rotational
and reflective transformations of R^2. These form a group that is isomorphic to
O(2) x S_n, the product group of the orthogonal group and the permutation on n
elements. The theory of equivariant dynamical systems is used to deduce a hierarchy
along which symmetries of a robot swarm can potentially increase following an
arbitrary protocol. By decoupling the Look phase from the Compute and Move phases
in the mathematical description of an LCM cycle, this hierarchy can be characterized
in terms of automorphisms of connectivity graphs. In particular, we find all possible
types of symmetry increase, if the decoupled Compute and Move phase is invertible.
Finally, we apply our results to protocols which induce state-dependent linear
dynamics, where the reduced system consisting of only the Compute and Move phase
is linear.
author:
- first_name: Raphael
full_name: Gerlach, Raphael
id: '32655'
last_name: Gerlach
orcid: 0009-0002-4750-2051
- first_name: Sören
full_name: von der Gracht, Sören
id: '97359'
last_name: von der Gracht
orcid: 0000-0002-8054-2058
citation:
ama: Gerlach R, von der Gracht S. Analyzing Symmetries of Swarms of Mobile Robots
Using Equivariant Dynamical Systems. arXiv:250307576. Published online
2025.
apa: Gerlach, R., & von der Gracht, S. (2025). Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems. In arXiv:2503.07576.
bibtex: '@article{Gerlach_von der Gracht_2025, title={Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems}, journal={arXiv:2503.07576},
author={Gerlach, Raphael and von der Gracht, Sören}, year={2025} }'
chicago: Gerlach, Raphael, and Sören von der Gracht. “Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems.” ArXiv:2503.07576,
2025.
ieee: R. Gerlach and S. von der Gracht, “Analyzing Symmetries of Swarms of Mobile
Robots Using Equivariant Dynamical Systems,” arXiv:2503.07576. 2025.
mla: Gerlach, Raphael, and Sören von der Gracht. “Analyzing Symmetries of Swarms
of Mobile Robots Using Equivariant Dynamical Systems.” ArXiv:2503.07576,
2025.
short: R. Gerlach, S. von der Gracht, ArXiv:2503.07576 (2025).
date_created: 2025-03-11T08:21:05Z
date_updated: 2025-03-11T08:53:02Z
ddc:
- '004'
department:
- _id: '101'
external_id:
arxiv:
- '2503.07576'
file:
- access_level: open_access
content_type: application/pdf
creator: svdg
date_created: 2025-03-11T08:27:32Z
date_updated: 2025-03-11T08:27:32Z
file_id: '58954'
file_name: Analyzing_Symmetries_of_Swarms_of_Mobile_Robots_Using_Equivariant_Dynamical_Systems.pdf
file_size: 812198
relation: main_file
file_date_updated: 2025-03-11T08:27:32Z
has_accepted_license: '1'
keyword:
- dynamical systems
- coupled systems
- distributed computing
- robot swarms
- autonomous mobile robots
- symmetry
- equivariant dynamics
language:
- iso: eng
oa: '1'
page: '23'
project:
- _id: '106'
grant_number: '453112019'
name: 'Algorithmen für Schwarmrobotik: Verteiltes Rechnen trifft Dynamische Systeme'
publication: arXiv:2503.07576
status: public
title: Analyzing Symmetries of Swarms of Mobile Robots Using Equivariant Dynamical
Systems
type: preprint
user_id: '97359'
year: '2025'
...
---
_id: '32518'
abstract:
- lang: eng
text: "This study investigates age-related changes and dyadic-specific differences
in adult child–parent\r\nrelationships. Using an individuation framework, two
German samples of 224 and 105 participants\r\naged between 21 and 47 years were
administered the Network of Relationships Inventory, the\r\nEmotional Autonomy
Scale and the Authority Reciprocity Questionnaire. Factor analyses resulted\r\nin
a measurement model valid for adult children, their mothers and fathers. The model
includes\r\nconnectedness (with emotional and cognitive aspects) as well as individuality
(assessed as power\r\nsymmetry). Connectedness decreased with age. Symmetry in
father–child relationships increased over\r\ntime, while mother–child relationships
were perceived to be symmetrical by early adulthood.\r\nChild–mother relationships
were more connected than child–father relationships. Sons described\r\nthemselves
as more powerful than did daughters."
author:
- first_name: Heike M.
full_name: Buhl, Heike M.
id: '27152'
last_name: Buhl
citation:
ama: Buhl HM. Development of a model describing individuated adult child-parent
relationships. International Journal of Behavioral Development. 2008;32(5):381-389.
apa: Buhl, H. M. (2008). Development of a model describing individuated adult child-parent
relationships. International Journal of Behavioral Development, 32(5),
381–389.
bibtex: '@article{Buhl_2008, title={Development of a model describing individuated
adult child-parent relationships}, volume={32}, number={5}, journal={International
Journal of Behavioral Development}, author={Buhl, Heike M.}, year={2008}, pages={381–389}
}'
chicago: 'Buhl, Heike M. “Development of a Model Describing Individuated Adult Child-Parent
Relationships.” International Journal of Behavioral Development 32, no.
5 (2008): 381–89.'
ieee: H. M. Buhl, “Development of a model describing individuated adult child-parent
relationships,” International Journal of Behavioral Development, vol. 32,
no. 5, pp. 381–389, 2008.
mla: Buhl, Heike M. “Development of a Model Describing Individuated Adult Child-Parent
Relationships.” International Journal of Behavioral Development, vol. 32,
no. 5, 2008, pp. 381–89.
short: H.M. Buhl, International Journal of Behavioral Development 32 (2008) 381–389.
date_created: 2022-08-02T23:53:32Z
date_updated: 2022-08-29T04:42:04Z
department:
- _id: '427'
extern: '1'
intvolume: ' 32'
issue: '5'
keyword:
- adult child–parent relationships
- adulthood
- connectedness
- Germany
- individuation
- symmetry
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://journals.sagepub.com/doi/pdf/10.1177/0165025408093656
oa: '1'
page: 381 - 389
publication: International Journal of Behavioral Development
publication_status: published
status: public
title: Development of a model describing individuated adult child-parent relationships
type: journal_article
user_id: '42165'
volume: 32
year: '2008'
...