Related papers: Trajectory Tracking Using Motion Primitives for th…
Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…
Computational models of aquatic locomotion range from individual modest simple swimmers in 2D to sophisticated 3D individual swimmers to complex multi-swimmer models that attempt to parse collective behavioral dynamics. Each of these models…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
We present a two dimensional model of hydrodynamic interaction between a circular swimmer and a circular post at low Reynolds number, using a point singularity description of the swimming activity. We derive a nonlinear dynamical system…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
Using a 3D Lagrangian tracking technique, we determine experimentally the trajectories of non-tumbling E. coli mutants swimming in a Poiseuille flow. We identify a typology of trajectories in agreement with a kinematic "active…
Small organisms (e.g., bacteria) and artificial microswimmers move due to a combination of active swimming and passive Brownian motion. Considering a simplified linear three-sphere swimmer, we study how the swimmer size regulates the…
We investigate the behavior of a treadmilling microswimmer in a two-dimensional unbounded domain with a semi-infinite no-slip wall. The wall can also be regarded as a probe or pipette inserted into the flow. We solve the governing evolution…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
Autonomous locomotion is a ubiquitous phenomenon in biology and in physics of active systems at microscopic scale. This includes prokaryotic, eukaryotic cells (crawling and swimming) and artificial swimmers. An outstanding feature is the…
Self-propulsion at low Reynolds number is notoriously restricted, a concept that is commonly known as the "scallop theorem". Here we present a truly self-propelled swimmer (force- and torque- free) that, while unable to swim in a Newtonian…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…
An enabling technology for future sea transports is safe and energy-efficient autonomous maritime navigation in narrow environments with other marine vessels present. This requires that the algorithm controlling the ship is able to account…
Swimming and pumping at low Reynolds numbers are subject to the "Scallop theorem", which states that there will be no net fluid flow for time reversible motions. Living organisms such as bacteria and cells are subject to this constraint,…
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
The locomotion and design of microswimmers are topical issues of current fundamental and applied research. In addition to numerous living and artificial active microswimmers, a passive microswimmer was identified only recently: a soft,…
Training perceptive humanoid locomotion policies that traverse complex terrains with natural gaits remains an open challenge, typically demanding multi-stage training pipelines, adversarial objectives, or extensive real-world calibration.…
This article presents the dynamic interpolation problem for locomotion systems evolving on a trivial principal bundle $Q$. Given an ordered set of points in $Q$, we wish to generate a trajectory which passes through these points by…