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Airborne Wind Energy (AWE) is an emerging technology designed to harness the power of high-altitude winds, offering a solution to several limitations of conventional wind turbines. AWE is based on flying devices (usually gliders or kites)…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
Ocean sampling for highly temporal phenomena, such as harmful algal blooms, necessitates a vehicle capable of fast aerial travel interspersed with an aquatic means of acquiring in-situ measurements. Vehicle platforms with this capability…
Swarm navigation in cluttered environments is a grand challenge in robotics. This work combines deep learning with first-principle physics through differentiable simulation to enable autonomous navigation of multiple aerial robots through…
Downstream wind turbines operating behind upstream turbines face significant performance challenges due to reduced wind speeds and increased turbulence. This leads to decreased wind energy production and higher dynamic loads on downwind…
Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…
We present a transportable system for ocean observations in which a small autonomous surface vehicle (ASV) adaptively collects spatially diverse samples with aid from a team of inexpensive, passive floating sensors known as drifters.…
Tiny flying insects, such as Drosophila melanogaster, fly by flapping their wings at frequencies faster than their brains are able to process. To do so, they rely on self-oscillation: dynamic instability, leading to emergent oscillation,…
Natural fliers like bats exploit the complex fluid-structure interaction between their flexible membrane wings and the air with great ease. Yet, replicating and scaling the balance between the structural and fluid-dynamical parameters of…
Most of the studies on optimal transport are done for steady state regime conditions. Yet, there exists numerous examples in living systems where supply tree networks have to deliver products in a limited time due to the pulsatile character…
Existing research has yet to reach a consensus on whether and how small flying animals utilize elastic energy storage mechanisms to reduce flight energy expenditure, and there is a lack of systematic and universal methods for assessment. To…
Aerial robot solutions are becoming ubiquitous for an increasing number of tasks. Among the various types of aerial robots, blimps are very well suited to perform long-duration tasks while being energy efficient, relatively silent and safe.…
Sailing robots provide a low-cost solution to conduct the ocean missions such as marine exploration, pollution detection, and border surveillance, etc. However, compared with other propeller-driven surface vessels, sailboat suffers in…
We report numerical results on the velocity statistics of topological defects during the dynamics of phase ordering and non-relaxational evolution assisted by an external shear ow. We propose a numerically efficient tracking method for…
Many animals, modern aircraft, and underwater vehicles use streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through…
Iceberg drift and decay and the associated freshwater release are increasingly seen as important processes in Earth's climate system, yet a detailed understanding of their dynamics has remained elusive. Here, an idealized model of iceberg…
We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…
We study the minimum time control problem of the launchers. The optimal trajectories of the problem may contain singular arcs, and thus chattering arcs. The motion of the launcher is described by its attitude kinematics and dynamics and…
High-frequency wave propagation in near-inertial wave shear has been considered fundamental in setting the spectral character of the oceanic internal wave continuum and for transporting energy to wave-breaking. We compare idealized ray…
Non-spherical particles transported by an anisotropic turbulent flow preferentially align with the mean shear and intermittently tumble when the local strain fluctuates. Such an intricate behaviour is here studied for inertialess,…