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Social insects in nature such as ants, termites and bees construct their colonies collaboratively in a very efficient process. In these swarms, each insect contributes to the construction task individually showing redundant and parallel…
Theoretical models of populations and swarms typically start with the assumption that the motion of agents is governed by the local stimuli. However, an intelligent agent, with some understanding of the laws that govern its habitat, can…
We study the important problem of tracking moving targets in wireless sensor networks. We try to overcome the limitations of standard state of the art tracking methods based on continuous location tracking, i.e. the high energy dissipation…
Feature Squeezing is a recently proposed defense method which reduces the search space available to an adversary by coalescing samples that correspond to many different feature vectors in the original space into a single sample. It has been…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
Efficient search acts as a strong selective force in biological systems ranging from cellular populations to predator-prey systems. The search processes commonly involve finding a stationary or mobile target within a heterogeneously…
We present a compressive sensing protocol that tracks a moving object by removing static components from a scene. The implementation is carried out on a ghost imaging scheme to minimize both the number of photons and the number of…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…
This paper studies the organization of communication between biased senders and a receiver. Senders can misreport their private information at a cost. Efficiency is achieved by clearing information asymmetries without incurring costs.…
The last few years have witnessed substantial progress in the field of embodied AI where artificial agents, mirroring biological counterparts, are now able to learn from interaction to accomplish complex tasks. Despite this success,…
Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy (e.g., overtaking or blocking) emerge…
We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing…
We consider a model of two competing microswimming agents engaged in a pursue-evasion task within a low-Reynolds-number environment. Agents can only perform simple maneuvers and sense hydrodynamic disturbances, which provide ambiguous…
We study a simple model of a foraging animal that modifies the substrate on which it moves. This substrate provides its only resource, and the forager manage it by taking a limited portion at each visited site. The resource recovers its…
We investigate how a shepherd should move to effectively herd a flock towards a target. Using an agent-based (ABM) and a coarse-grained (ODE) model for the flock, we pose and solve for the optimal strategy of a shepherd that must keep the…
Insects excel in trajectory and attitude handling during flight, yet the specific kinematic behaviours they use for maintaining stability in air disturbances are not fully understood. This study investigates the adaptive strategies of…
We investigate two representation alternatives for the controllers of teams of cyber agents. We combine these controller representations with different evolutionary algorithms, one of which introduces a novel LLM-supported mutation…
Aerial wildlife tracking is critical for conservation efforts and relies on detecting small objects on the ground below the aircraft. It presents technical challenges: crewed aircraft are expensive, risky and disruptive; autonomous drones…