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Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…
We conduct experiments with flexible swimmers to address the impact of fluid viscoelasticity on their locomotion. The swimmers are composed of a magnetic head actuated in rotation by a frequency-controlled magnetic field and a flexible tail…
We study the swimming of non-relativistic deformable bodies in (empty) static curved spaces. We focus on the case where the ambient geometry allows for rigid body motions. In this case the swimming equations turn out to be geometric. For a…
In this paper we investigate different strategies to overcome the scallop theorem. We will show how to obtain a net motion exploiting the fluid's type change during a periodic deformation. We are interested in two different models: in the…
Fish schooling implies an awareness of the swimmers for their companions. In flow mediated environments, in addition to visual cues, pressure and shear sensors on the fish body are critical for providing quantitative information that…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
The possibility of microscopic swimming by extraction of energy from an external flow is discussed, focusing on the migration of a simple trimer across a linear shear flow. The geometric properties of swimming, together with the possible…
When swimming at low Reynolds numbers, inertial effects are negligible and reciprocal movements cannot induce net motion. Instead, symmetry breaking is necessary to achieve net propulsion. Directed swimming can be supported by magnetic…
In this work a simple problem on 2D optimal shape for body immersed in a viscous flow is analyzed. The body has geometrical constraints and its profile would be found in the class of cubics which satisfy those conditions. The optimal…
Steady swimming can be characterized as both periodic and stable. These characteristics are the very definition of limit cycles, and so we ask "Can we view swimming as a limit cycle?" In this paper we will find that the answer is "yes". We…
Monitoring swimmer performance is crucial for improving training and enhancing athletic techniques. Traditional methods for tracking swimmers, such as above-water and underwater cameras, face limitations due to the need for multiple cameras…
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements. Prominent examples with two shape variables are the low…
Micro-swimmer locomotion in heterogeneous media is increasingly relevant in biological physics due to the prevalence of microorganisms in complex environments. A model for such porous media is the Brinkman fluid which accounts for a sparse…
Spaces where each element describes a shape, so-called shape spaces, are of particular interest in shape optimization and its applications. Theory and algorithms in shape optimization are often based on techniques from differential…
Controllability results of four models of two-link microscale swimmers that are able to change the length of their links are obtained. The problems are formulated in the framework of Geometric Control Theory, within which the notions of…
We investigate a self-organized swimmer at low Reynolds numbers. The microscopic swimmer is composed of three spheres that are connected by two identical active linker arms. Each linker arm contains molecular motors and elastic elements and…
Many microorganisms swim through gels and non-Newtonian fluids in their natural environments. In this paper, we focus on microorganisms which use flagella for propulsion. We address how swimming velocities are affected in nonlinearly…
We derive a theorem for the lower bound on the energy dissipation rate by a rigid surface-driven active microswimmer of arbitrary shape in a fluid at low Reynolds number. We show that, for any swimmer, the minimum dissipation at a given…
We propose minimal models of one-, two- and three-dimensional micro-swimmers at low Reynolds number with a periodic non-reciprocal motion. These swimmers are either "pushers" or "pullers" of fluid along the swimming axis, or combination of…
Metachronal paddling is a swimming strategy in which an organism oscillates sets of adjacent limbs with a constant phase lag, propagating a metachronal wave through its limbs and propelling it forward. This limb coordination strategy is…