Related papers: Optical Flow Sensing and the Inverse Perception Pr…
Understanding human motion processing is essential for building reliable, human-centered computer vision systems. Although deep neural networks (DNNs) achieve strong performance in optical flow estimation, they remain less robust than…
Bird migration is an adaptive behavior ultimately aiming at optimizing survival and reproductive success. We propose an optimal switching model to study bird migration, where birds' migration behaviors can be efficiently modeled as…
Thermal soaring enables birds to perform cost-efficient flights during foraging or migration trips. Yet, although all soaring birds exploit vertical winds effectively, this group contains species that vary strongly in their morphologies.…
Even the simplest of animals exhibit behavioral sequences with complex temporal dynamics. Prominent amongst the proposed organizing principles for these dynamics has been the idea of a hierarchy, wherein the movements an animal makes can be…
We experimentally investigate a scheme for studying lattice transport phenomena, based on the controlled momentum-space dynamics of ultracold atomic matter waves. In the effective tight-binding models that can be simulated, we demonstrate…
Branching random flights are key to describing the evolution of many physical and biological systems, ranging from neutron multiplication to gene mutations. When their paths evolve in bounded regions, we establish a relation between the…
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by biologists. The proposed control law is distinct from prior…
Animals such as insects have provided a rich source of inspiration for designing robots. For example, animals navigate to goals via efficient coordination of individual motor actions, and demonstrate natural solutions to problems also faced…
In this work, Global Position System (GPS) data from a flock of homing pigeons are analysed. The flocking behaviour of the considered homing pigeons is formulated as a swarm optimal trajectory tracking control problem. The swarm problem in…
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…
Determining onflow parameters is crucial from the perspectives of wind tunnel testing and regular flight and wind turbine operations. These parameters have traditionally been predicted via direct measurements which might lead to challenges…
Optimal transport (OT) and Schr{\"o}dinger bridge (SB) problems have emerged as powerful frameworks for transferring probability distributions with minimal cost. However, existing approaches typically focus on endpoint matching while…
The task of motion prediction is pivotal for autonomous driving systems, providing crucial data to choose a vehicle behavior strategy within its surroundings. Existing motion prediction techniques primarily focus on predicting the future…
This work briefly covers our efforts to stabilize the flight dynamics of Northeastern's tailless bat-inspired micro aerial vehicle, Aerobat. Flapping robots are not new. A plethora of examples is mainly dominated by insect-style design…
Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
This paper addresses the problem of reconstructing the motion trajectories of the individuals in a large collection of flying objects using two temporally synchronized and geometrically calibrated cameras. The 3D trajectory reconstruction…
The focus of this paper is a key component of a methodology for understanding, interpolating, and predicting fish movement patterns based on spatiotemporal data recorded by spatially static acoustic receivers. Unlike GPS trackers which emit…
This paper concerns applications of a recently-developed output-tracking technique to trajectory control of autonomous vehicles. The technique is based on three principles: Newton-Raphson flow for solving algebraic equations,output…