Related papers: Stress-Based Navigation for Microscopic Robots in …
We consider an immersed elastic body that is actively driven through a structured fluid by a motor or an external force. The behavior of such a system generally cannot be solved analytically, necessitating the use of numerical methods.…
Exploring bodies of water on their surface allows robots to efficiently communicate and harvest energy from the sun. On the water surface, however, robots often face highly unstructured environments, cluttered with plant matter, animals,…
Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and…
Fuel cells using oxygen and glucose could power microscopic robots operating in blood vessels. Swarms of such robots can significantly reduce oxygen concentration, depending on the time between successive transits of the lung, hematocrit…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…
Motile microorganisms develop effective swimming gaits to adapt to complex biological environments. Translating this adaptability to smart microrobots presents significant challenges in motion planning and stroke design. In this work, we…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Micro-robots for, e.g., biomedical applications, need to be equipped with motility strategies that enable them to navigate through complex environments. Inspired by biological microorganisms we recreate motility patterns such as…
Robots operating in human-populated environments must navigate safely and efficiently while minimizing social disruption. Achieving this requires estimating crowd movement to avoid congested areas in real-time. Traditional microscopic…
Microscopic robots in the bloodstream could obtain power from fuel cells using glucose and oxygen. Previous studies of small numbers of such robots operating near each other showed how robots compete with their neighbors for oxygen.…
Inspired by the lotus effect, many studies in the last decade have focused on micro- and nano-patterned surfaces. They revealed that patterns at the micro-scale combined with high contact angles can significantly reduce skin drag. However,…
Microorganisms are rarely found in Nature swimming freely in an unbounded fluid. Instead, they typically encounter other organisms, hard walls, or deformable boundaries such as free interfaces or membranes. Hydrodynamic interactions between…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
Depending on multiple parameters, soft robots can exhibit different modes of locomotion that are difficult to model numerically. As a result, improving their performance is complex, especially in small-scale systems characterized by low…
The pressure strain correlation plays a critical role in the Reynolds stress transport modelling. Accurate modelling of the pressure strain correlation leads to proper prediction of turbulence stresses and subsequently the other terms of…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…