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Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
Network interactions between dynamical units are often subject to time delay. We develop a phase reduction method for delay-coupled oscillator networks. The method is based on rewriting the delay-differential equation as an ordinary…
Computing with networks of synchronous oscillators has attracted wide-spread attention as novel materials and device topologies have enabled realization of compact, scalable and low-power coupled oscillatory systems. Of particular interest…
This paper describes a wearable wireless mouse-cursor controller that optically tracks the degree of tilt of the user's head to move the mouse relative distances and therefore the degrees of tilt. The raw data can be processed locally on…
The emergence of synchronization in a network of coupled oscillators is a fascinating topic in various scientific disciplines. A coupled oscillator network is characterized by a population of heterogeneous oscillators and a graph describing…
For a generic dynamical decoupling sequence employing a single-axis control, we study its efficiency in the presence of small errors in direction of the controlling-pulses. In the case that the corresponding ideal dynamical-decoupling…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
The synchronization of rhythms is ubiquitous in both natural and engineered systems, and the demand for data-driven analysis is growing. When rhythms arise from limit cycles, phase reduction theory shows that their dynamics are universally…
It is widely assumed that neural activity related to synchronous rhythms of large portions of neurons in specific locations of the brain is responsible for the pathology manifested in patients' uncontrolled tremor and other similar…
We propose a theoretical framework to study the cooperative behavior of dynamically coupled oscillators (DCOs) that possess dynamical interactions. Then, to understand synchronization phenomena in networks of interneurons which possess…
Coupled oscillator networks often display transitions between qualitatively different phase-locked solutions -- such as synchrony and rotating wave solutions -- following perturbation or parameter variation. In the limit of weak coupling,…
Coherent control of traveling acoustic excitations in a waveguide system is an interesting way to manipulate and transduce classical and quantum information. So far, these interactions, often based on optomechanical resonators or Brillouin…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
We describe a flexible and modular delayed-feedback nonlinear oscillator that is capable of generating a wide range of dynamical behaviours, from periodic oscillations to high-dimensional chaos. The oscillator uses electrooptic modulation…
Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…
Decoupling the interactions in a spin network governed by a pair-interaction Hamiltonian is a well-studied problem. Combinatorial schemes for decoupling and for manipulating the couplings of Hamiltonians have been developed which use…
In this article, we propose a very efficient technique to enhance the dynamical robustness for a network of mean-field coupled oscillators experiencing aging transition. In particular, we present a control mechanism based on delayed…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…