Related papers: Optimally swimming Stokesian robots
In this paper we focus on a two-link swimmer called scallop which moves changing dynamics between two fluids regimes. We address and solve explicitly two optimal control problems, the minimum time one and the minimum quadratic cost needed…
This paper investigates optimal control problems formulated over a class of piecewise-smooth vector fields. Instead of optimizing over the discontinuous system directly, we instead formulate optimal control problems over a family of…
The biological fluids encountered by self-propelled cells display complex microstructures and rheology. We consider here the general problem of low-Reynolds number locomotion in a complex fluid. {Building on classical work on the transport…
Micro-swimmers put into motion by a rotating magnetic field have provided interesting challenges both in engineering and in mathematical modelling. We study here the dynamics of a permanent-magnetic rigid body submitted to a…
This paper investigates the exact controllability problem for multi-dimensional stochastic first-order symmetric hyperbolic systems with control inputs acting in two distinct ways: an internal control applied to the diffusion term and a…
Unlike macroscopic swimmers, microswimmers operate in a low-Reynolds-number regime dominated by viscous forces. This paper investigates the controllability of a magnetic microswimmer composed of a spherical magnetic head and an elastic,…
We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…
The optimal control problem of stochastic systems is commonly solved via robust or scenario-based optimization methods, which are both challenging to scale to long optimization horizons. We cast the optimal control problem of a stochastic…
A recently developed theory of stochastic swimming is used to study the notion of coherence in active systems that couple via hydrodynamic interactions. It is shown that correlations between various modes of deformation in stochastic…
The current study presents a systematic investigation of the locomotion performance of a swimmer with a wide range of parameter settings. Two-dimensional simulations with the immersed boundary method are employed for the fluid-structure…
We revisit the dynamics of a permanent-magnetic rigid body submitted to a spatially-uniform steadily-rotating magnetic field in Stokes flow. We propose an analytical parameterisation of the full set of equilibria depending on two key…
A stochastic optimal control problem for incompressible Newtonian channel flow past a circular cylinder is used as a prototype optimal control problem for the stochastic Navier-Stokes equations. The inlet flow and the rotation speed of the…
In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…
Active diffusiophoresis - swimming through interaction with a self-generated, neutral, solute gradient - is a paradigm for autonomous motion at the micrometer scale. We study this propulsion mechanism within a linear response theory.…
A new highly efficient method is developed for computation of traveling periodic waves (Stokes waves) on the free surface of deep water. A convergence of numerical approximation is determined by the complex singularites above the free…
An adjoint-based optimization is applied to study the thrust performance of a pitching-rolling ellipsoidal plate in a uniform stream at Reynolds number 100. To achieve the highest thrust, the optimal kinematics of pitching-rolling motion is…
In this paper, we study a class of stochastic optimal control problem with jumps under partial information. More precisely, the controlled systems are described by a fully coupled nonlinear multi- dimensional forward-backward stochastic…
Hydrodynamic signatures at the Stokes regime, pertinent to motility of micro-swimmers, have a long-range nature. This implies that movements of an object in such a viscosity-dominated regime, can be felt tens of body-lengths away and…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
Many biological microswimmers locomote by periodically beating the densely-packed cilia on their cell surface in a wave-like fashion. While the swimming mechanisms of ciliated microswimmers have been extensively studied both from the…