Related papers: Optimizing snake locomotion in the plane. I. Compu…
Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…
We propose a strategy for optimizing a sensor trajectory in order to estimate the time dependence of a localized scalar source in turbulent channel flow. The approach leverages the view of the adjoint scalar field as the sensitivity of…
Similar to their counterparts in nature, the flexible bodies of snake-like robots enhance their movement capability and adaptability in diverse environments. However, this flexibility corresponds to a complex control task involving highly…
A regularized optimization problem over a large unstructured graph is studied, where the regularization term is tied to the graph geometry. Typical regularization examples include the total variation and the Laplacian regularizations over…
Navigation up a sensory gradient is one of the simplest behaviours, and the simplest strategy is run and tumble. But some organisms use other strategies, such as reversing direction or turning by some angle. Here we ask what drives the…
We solve optimal stopping problems for an oscillating Brownian motion, i.e. a diffusion with positive piecewise constant volatility changing at the point $x=0$. Let $\sigma_1$ and $\sigma_2$ denote the volatilities on the negative and…
Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that…
It is well-known and classical result that spectrally stable traveling waves of a general reaction-diffusion system in one spatial dimension are asymptotically stable with exponential relaxation rates. In a series of works in the 1990's,…
A new interactive approach to navigate on approximations of in general non-convex but connected Pareto fronts is introduced. Given a finite number of precalculated representative Pareto-efficient solutions, an adapted Delaunay triangulation…
Spanwise wall forcing in the form of streamwise-travelling waves is applied to the suction side of a transonic airfoil with a shock wave to reduce aerodynamic drag. The study, conducted using direct numerical simulations, extends earlier…
Efficient navigation in swarms often relies on the emergence of decentralized approaches that minimize traversal time or energy. Stigmergy, where agents modify a shared environment that then modifies their behavior, is a classic mechanism…
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…
In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…
Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots…
The ability of streamwise-travelling waves of spanwise velocity to reduce the turbulent skin friction drag is assessed in the compressible regime. Direct numerical simulations are carried out to compare drag reduction in subsonic, transonic…
We study the parameterized complexity of a variant of the classic video game Snake that models real-world problems of motion planning. Given a snake-like robot with an initial position and a final position in an environment (modeled by a…
Swimming eukaryotic microorganisms such as spermatozoa, algae and ciliates self-propel in viscous fluids using travelling wave-like deformations of slender appendages called flagella. Waves are predominant because Purcell's scallop theorem…
We study an entropic optimal transport problem in which the transport plan is penalized by a nonlinear convex functional acting on the coupling. We establish existence, uniqueness, and uniform a priori bounds for minimizers, and we show…
This paper is about the construction of displacement interpolations on a discrete metric graph. Our approach is based on the approximation of any optimal transport problem whose cost function is a distance on a discrete graph by a sequence…
The goal of this paper is to study the family of snake polyominoes. More precisely, we focus our attention on the class of partially directed snakes. We establish functional equations and length generating functions of two dimensional,…