Related papers: Exploring Dynamic Environments Using Stochastic Se…
Evolutionary search via the quality-diversity (QD) paradigm can discover highly performing solutions in different behavioural niches, showing considerable potential in complex real-world scenarios such as evolutionary robotics. Yet most QD…
This research addresses the challenge of performing search missions in dynamic environments, particularly for drifting targets whose movement is dictated by a flow field. This is accomplished through a dynamical system that integrates two…
Controllable Markov chains describe the dynamics of sequential decision making tasks and are the central component in optimal control and reinforcement learning. In this work, we give the general form of an optimal policy for learning…
These notes from a graduate class at the Unuversidad Autonoma de Madrid analyze a search behavior known as Area Resticted Search (ARS), widespread in the animal kingdom, and optimal when the resources that one is after are "patchy". In the…
Scaling mobility patterns have been widely observed for animals. In this paper, we propose a deterministic walk model to understand the scaling mobility patterns, where walkers take the least-action walks on a lattice landscape and prey.…
Surveillance and exploration of large environments is a tedious task. In spaces with limited environmental cues, random-like search is an effective approach as it allows the robot to perform online coverage of environments using simple…
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…
Recent developments in automated tracking allow uninterrupted, high-resolution recording of animal trajectories, sometimes coupled with the identification of stereotyped changes of body pose or other behaviors of interest. Analysis and…
We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…
We extend a recently introduced prototypical stochastic model describing uniformly the search and return of objects looking for new food sources around a given home. The model describes the kinematic motion of the object with constant speed…
The run-and-tumble walk, consisting in randomly reoriented ballistic excursions, models phenomena ranging from gas kinetics to bacteria motility. We evaluate the mean time required for this walk to find a fixed target within a 2D or 3D…
In this paper, we deal with a size-variable group of pedestrians moving in a unknown confined environment and searching for an exit. Pedestrian dynamics are simulated by means of a recently introduced microscopic (agent-based) model,…
We study the problem of optimal oculomotor control during the execution of visual search tasks. We introduce a computational model of human eye movements, which takes into account various constraints of the human visual and oculomotor…
We study a new random search process: the \textit{taxi-drive}. The motivation for this process comes from urban sensing, in which sensors are mounted on moving vehicles such as taxis, allowing urban environments to be opportunistically…
We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…
What is the most efficient search strategy for the random located target sites subject to the physical and biological constraints? Previous results suggested the L\'evy flight is the best option to characterize this optimal problem,…
The proposed stochastic model for pedestrian dynamics is based on existing approaches using cellular automata, combined with substantial extensions, to compensate the deficiencies resulting of the discrete grid structure. This agent motion…
Tasks involving locally unstable or discontinuous dynamics (such as bifurcations and collisions) remain challenging in robotics, because small variations in the environment can have a significant impact on task outcomes. For such tasks,…
The movement of organisms is subject to a multitude of influences of widely varying character: from the bio-mechanics of the individual, over the interaction with the complex environment many animals live in, to evolutionary pressure and…
This book chapter introduces to the problem to which extent search strategies of foraging biological organisms can be identified by statistical data analysis and mathematical modeling. A famous paradigm in this field is the Levy Flight…