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This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these…
Background: Outdoor navigation poses significant challenges for people with blindness or low vision, yet the role of gaze behavior in supporting mobility remains underexplored. Fully sighted individuals typically adopt consistent scanning…
We introduce a framework to navigate agents in buildings, inspired by the concept of "the cognitive map". It allows to route agents depending on their spacial knowledge. With help of an event-driven mechanism, agents acquire new information…
Navigating toward a known target in a noisy environment is a fundamental problem shared across biological, physical, and engineered systems. Although optimal strategies are often framed in terms of continuous, fine-grained feedback, we show…
Efficient techniques to navigate networks with local information are fundamental to sample large-scale online social systems and to retrieve resources in peer-to-peer systems. Biased random walks, i.e. walks whose motion is biased on…
Biological populations are subject to fluctuating environmental conditions. Different adaptive strategies can allow them to cope with these fluctuations: specialization to one particular environmental condition, adoption of a generalist…
In computer interfaces in general, especially in information retrieval tasks, it is important to be able to quickly find and retrieve information. State of the art approach, used, for example, in search engines, is not effective as it…
Many of the tasks that a service robot can perform at home involve navigation skills. In a real world scenario, the navigation system should consider individuals beyond just objects, theses days it is necessary to offer particular and…
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…
In any ecosystem, the conditions of the environment and the characteristics of the species that inhabit it are entangled, co-evolving in space and time. We introduce a model that couples active agents with a dynamic environment, interpreted…
Slow self-avoiding adaptive walks by an infinite radius search algorithm (Limax) are analyzed as themselves, and as the network they form. The study is conducted on several NK problems and two HIFF problems. We find that examination of such…
Humans exhibit a wide range of adaptive and robust dynamic motion behavior that is yet unmatched by autonomous control systems. These capabilities are essential for real-time behavior generation in cluttered environments. Recent work…
We study decision timing problems on finite horizon with Poissonian information arrivals. In our model, a decision maker wishes to optimally time her action in order to maximize her expected reward. The reward depends on an unobservable…
Cooperative perception enables autonomous agents to share encoded representations over wireless communication to enhance each other's live situational awareness. However, the tension between the limited communication bandwidth and the rich…
Collective motion is one of the most ubiquitous behaviours displayed by social organisms and has led to the development of numerous models. Recent advances in the understanding of sensory system and information processing by animals impel…
For past several decades, research efforts in population modelling has proven its efficacy in understanding the basic information about residential and commercial areas, as well as for the purposes of planning, development and improvement…
Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…
The mammalian brain is a metabolically expensive device, and evolutionary pressures have presumably driven it to make productive use of its resources. For sensory areas, this concept has been expressed more formally as an optimality…
1. Spatial memory plays a role in the way animals perceive their environments, resulting in memory-informed movement patterns that are observable to ecologists. Developing mathematical techniques to understand how animals use memory in…
In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…