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Steering vectors are a lightweight method for controlling language model behavior by adding a learned bias to the activations at inference time. Although effective on average, steering effect sizes vary across samples and are unreliable for…

Biological evidence shows that animals are capable of evading eminent collision without using depth information, relying solely on looming stimuli. In robotics, collision avoidance among uncooperative vehicles requires measurement of…

Environmental, demographical and psychological factors have a demonstrated impact on risky crossing behaviour. In this work we focus on the potential influence of social factors on the considered phenomenon (i.e. group crossing decision).…

Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…

In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…

Leader-follower navigation is a popular class of multi-robot algorithms where a leader robot leads the follower robots in a team. The leader has specialized capabilities or mission-critical information (e.g. goal location) that the…

The survival chance of a prey chased by a predator depends not only on their relative speeds but importantly also on the local environment they have to face. For example, a wolf chasing a deer might take a long time to cross a river which…

Better understanding the natural world is a crucial task with a wide range of applications. In environments with close proximity between humans and animals, such as zoos, it is essential to better understand the causes behind animal…

Multi-view approaches to people-tracking have the potential to better handle occlusions than single-view ones in crowded scenes. They often rely on the tracking-by-detection paradigm, which involves detecting people first and then…

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

Understanding the mechanics behind the coordinated movement of mobile animal groups (collective motion) provides key insights into their biology and ecology, while also yielding algorithms for bio-inspired technologies and autonomous…

Animal collective behavior is often modeled with self-propelled particles, assuming each individual has ``omniscient'' knowledge of its neighbors. Yet, neighbors may be hidden from view and we do not know the effect of this information…

Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…

The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…

In this report we show the emergent behavior of a group of agents, ordered from 1 to n, performing deviated, linear, cyclic pursuit, in the presence of a broadcast guidance control. Each agent senses the relative position of its target,…

Previous studies demonstrated empirically that human mobility exhibits Levy flight behaviour. However, our knowledge of the mechanisms governing this Levy flight behaviour remains limited. Here we analyze over 72 000 people's moving…

A visually-grounded navigation instruction can be interpreted as a sequence of expected observations and actions an agent following the correct trajectory would encounter and perform. Based on this intuition, we formulate the problem of…

Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach…

With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…

We address the problem of tracking and detecting interactions between the different groups of runners that form during a race. In athletic races control points are set to monitor the progress of athletes over the course. Intuitively, a {\it…