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Multi-animal tracking is crucial for understanding animal ecology and behavior. However, it remains a challenging task due to variations in habitat, motion patterns, and species appearance. Traditional approaches typically require extensive…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
We introduce the notion of directed hereditary species and show that they have associated monoidal decomposition spaces, comodule bialgebras, and operadic categories. The notion subsumes Schmitt's hereditary species, G\'alvez--Kock--Tonks…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Animals flexibly recombine a finite set of core motor motifs to meet diverse task demands, but existing behavior segmentation methods oversimplify this process by imposing discrete syllables under restrictive generative assumptions. To…
We consider a directed variant of the negative-weight percolation model in a two-dimensional, periodic, square lattice. The problem exhibits edge weights which are taken from a distribution that allows for both positive and negative values.…
We study the statistics of column-convex lattice animals resulting from the stacking of squares on a single or double staircase. We obtain exact expressions for the number of animals with a given length and area, their mean length and their…
The notions of taxis and kinesis are introduced and used to describe two types of behavior of an organism in non-uniform conditions: (i) Taxis means the guided movement to more favorable conditions; (ii) Kinesis is the non-directional…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
Rapid transduction of sensory stimulation to action is essential for an animal to survive. To this end, most animals use the sub-second excitable and multistable dynamics of a neuromuscular system. Here, studying an animal without neurons…
A control strategy without any precise mathematical model is derived for linear or nonlinear systems which are assumed to be finite-dimensional. Two convincing numerical simulations are provided.
Model order reduction in high-dimensional, nonlinear dynamical systems if often enabled through fast-slow timescale separation. One such approach involves identifying a low-dimensional slow manifold to which the state rapidly converges and…
Lattice-based random walk models are widely used to study populations of migrating cells with motility bias and proliferation. Crowding is typically represented by volume exclusion, where each lattice site can be occupied by at most one…
We develop a formalism to describe the discrete-time dynamics of systems containing an arbitrary number of interacting species. The individual-based model, which forms our starting point, is described by a Markov chain, which in the limit…
Middle-mile logistics describes the problem of routing parcels through a network of hubs linked by trucks with finite capacity. We rephrase this as a multi-object goal-conditioned MDP. Our method combines graph neural networks with…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
In this paper we propose two models describing the dynamics of heavy and light vehicles on a road network, taking into account the interactions between the two classes. The models are tailored for two-lane highways where heavy vehicles…
We study the dynamics and timescales of a periodically driven Fermi-Hubbard model in a three-dimensional hexagonal lattice. The evolution of the Floquet many-body state is analyzed by comparing it to an equivalent implementation in undriven…