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This paper presents a robust and accurate positioning system that adapts its behavior to the surrounding environment, mimicking the capability of the visual brain to filtering out clutter and focusing attention on activity and relevant…
Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…
Autonomous path planning requires a synergy between global reasoning and geometric precision, especially in complex or cluttered environments. While classical A* is valued for its optimality, it incurs prohibitive computational and memory…
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…
Ants achieve robust visual homing with minimal sensory input and only a few learning walks, inspiring biomimetic solutions for autonomous navigation. While Mushroom Body (MB) models have been used in robotic route following, they have not…
Various neurophysiological and cognitive functions are based on transferring information between spiking neurons via a complex system of synaptic connections. In particular, the capacity of presynaptic inputs to influence the postsynaptic…
Localized persistent neural activity can encode delayed estimates of continuous variables. Common experiments require that subjects store and report the feature value (e.g., orientation) of a particular cue (e.g., oriented bar on a screen)…
The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
The hippocampus supports spatial navigation by encoding cognitive maps through collective place cell activity. We model the place cell population as non-negative spatial embeddings derived from the spectral decomposition of multi-step…
Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately determined by interfacial effects, we show how both 3D gait alterations and locomotory adaptations to heterogeneous terrains can be understood…
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…
The weakly electric fish \emph{Eigenmannia virescens} naturally swims back and forth to stay within a moving refuge, tracking its motion using visual and electrosensory feedback. Previous experiments show that when the refuge oscillates as…
Interference alignment is degree of freedom optimal in K -user MIMO interference channels and many previous works have studied the transceiver designs. However, these works predominantly focus on networks with perfect channel state…
We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the…
Automated animal behavior analysis relies on long-term, interpretable individual trajectories; however, multi-animal tracking in space science experimental videos remains highly challenging due to weak appearance cues, low-quality imaging,…
In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…
Grid cells in the rodent entorhinal cortex display strikingly regular firing responses to the animal's position in 2-D space, and have been hypothesized to form the neural substrate for dead-reckoning. However, in previous models suggested…
The grid firing patterns are thought to provide an efficient intrinsic metric capable of supporting universal spatial metric for mammalian spatial navigation in all environments. However, whether spatial representations of grid cells in the…
Panoramic imagery provides holistic 360{\deg} visual coverage for perception in quadruped robots. However, existing occupancy prediction methods are mainly designed for wheeled autonomous driving and rely heavily on RGB cues, limiting their…