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Levy walk is a fundamental model with applications ranging from quantum physics to paths of animal foraging. Taking animal foraging as an example, a natural idea that comes to one's mind is to introduce the multiple internal states for…
Consider a flock of birds that fly interacting between them. The interactions are modelled through a hierarchical system in which each bird, at each time step, adjusts its own velocity according to his past velocity and a weighted mean of…
This letter proposes a novel continuous-time dynamic programming framework to determine when it is optimal for a pursuer to use MC amidst uncertainty in the evader's escape attempt time. We motivate this framework through the model problem…
Wildlife monitoring with drones must balance competing demands: approaching close enough to capture behaviorally-relevant video while avoiding stress responses that compromise animal welfare and data validity. Human operators face a…
Insects use visual cues to control their flight behaviours. By estimating the angular velocity of the visual stimuli and regulating it to a constant value, honeybees can perform a terrain following task which keeps the certain height above…
Behavioral heterogeneities in animals, also known as syndromes, play a crucial role in understanding how natural populations flexibly adapt to environmental changes. In ant species like \textit{Aphaenogaster senilis}, two key roles in…
This paper presents an approach to detect and track groups of people in video-surveillance applications, and to automatically recognize their behavior. This method keeps track of individuals moving together by maintaining a spacial and…
This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…
Navigation through narrow passages during colony relocation by the tandem-running ants, $\textit{Diacamma}$ $\textit{indicum}$, is a tour de force of biological traffic coordination. Even on one-lane paths, the ants tactfully manage a…
Animals locomote for various reasons: to search for food, find suitable habitat, pursue prey, escape from predators, or seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. Various…
A multi-state version of an animal movement analysis method based on conditional logistic regression, called Step Selection Function (SSF), is proposed. In ecology SSF is developed from a comparison between the observed location of an…
Motions of visually coupled zebrafish pairs are studied to understand the effects of information exchange on their behavior as a function of their minimal separation ($d$). We find that when $d$ is small, the pair can display a…
Improved communication systems, shrinking battery sizes and the price drop of tracking devices have led to an increasing availability of trajectory tracking data. These data are often analyzed to understand animal behavior. In this work, we…
Ant raiding, the process of identifying and returning food to the nest or bivouac, is a fascinating example of collective motion in nature. During such raids ants lay pheromones to form trails for others to find a food source. In this work…
Animals often forage via Levy walks stochastic trajectories with heavy tailed step lengths optimized for sparse resource environments. We show that human visual gaze follows similar dynamics when scanning images. While traditional models…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…