Multi-Agent-Based Simulation of Archaeological Mobility in Uneven Landscapes

Simulations of archaeological sites can make interpretations of past cultural practices observable and examinable. Generative multi-agent simulations offer a bottom-up approach to modeling how people collectively moved through and used historical spaces. However, current agents designed to simulate everyday life often plan and act independently, limiting their ability to capture how movement depends on others' actions. We introduce IMPACT (Interdependent Movement Planning through Inter-Agent Constraints and Triggers), an architecture that uses culturally specific roles and obligations to define dependencies among agents' activities and guide coordination. IMPACT connects socially gated milestone planning, wait-or-prompt resolution, structured directive issuance, and directive integration. These mechanisms determine whether and when activities can begin or change as social conditions evolve, producing socially constrained and prompted movement as their primary observable outcome. We instantiate IMPACT in a five-hour simulation of a Pompeian dinner involving ten agents across interdependent roles. Analysis of five simulation runs shows how social roles, responsibilities, and status relations shape household activities and spatial practices, as reflected in patterns of co-location, asymmetric waiting, co-movement, and social directives. In a controlled ablation evaluation, thirty-seven participants rated the complete architecture's behavior as more socially coherent and believable than that of two reduced architectures. Interviews with six archaeology experts highlighted historically plausible movement patterns and the simulation's potential to support archaeological interpretation, while identifying areas requiring stronger historical grounding for future work.

Urban mobility modeling faces challenges in representing decision-making in dynamic environments. Although Multi-Agent Systems are widely used, rule-based approaches rely on fixed heuristics that limit adaptive behavior. This work investigates the integration of Large Language Models (LLMs) as decision-making components in multi-agent simulations. We propose a hybrid architecture that connects the GAMA platform to an external LLM-based module through an API, enabling agents to determine whether route replanning is necessary. Rather than replacing routing algorithms, the LLM serves as a decision layer that guides replanning behavior. The approach incorporates persistent memory, allowing past interactions to influence future decisions and promote behavioral consistency. We compare rule-based and LLM-assisted approaches across multiple road-blockage scenarios and population scales. Results indicate that LLM-enabled agents exhibit greater adaptability and contextual awareness, particularly in scenarios with higher route flexibility. Memory influences performance and behavioral consistency, with effects varying across configurations. Overall, LLMs serve as complementary cognitive layers that enrich behavioral representations in urban mobility simulations and hold potential for modeling complex decision-making in spatial multi-agent systems.

Autonomous driving in off-road environments presents significant challenges due to the dynamic and unpredictable nature of unstructured terrain. Traditional kinodynamic models often struggle to generalize across diverse geometric and semantic terrain types, underscoring the need for real-time adaptation to ensure safe and reliable navigation. We propose VertiAdaptor (VA), a novel online adaptation framework that efficiently integrates elevation with semantic embeddings to enable terrain-aware kinodynamic modeling and planning via function encoders. VA learns a kinodynamic space spanned by a set of neural ordinary differential equation basis functions, capturing complex vehicle-terrain interactions across varied environments. After offline training, the proposed approach can rapidly adapt to new, unseen environments by identifying kinodynamics in the learned space through a computationally efficient least-squares calculation. We evaluate VA within the Verti-Bench simulator, built on the Chrono multi-physics engine, and validate its performance both in simulation and on a physical Verti-4-Wheeler platform. Our results demonstrate that VA improves prediction accuracy by up to 23.9% and achieves a 5X faster adaptation time, advancing the robustness and reliability of autonomous robots in complex and evolving off-road environments.