Related papers: FASTSWARM: A Data-driven FrAmework for Real-time F…
One of the major motifs in collective or swarm intelligence is that, even though individuals follow simple rules, the resulting global behavior can be complex and intelligent. In artificial swarm systems, such as swarm robots, the goal is…
Aggregation is a common behavior by which groups of organisms arrange into cohesive groups. Whether suspended in the air (like honey bee clusters), built on the ground (such as army ant bridges), or immersed in water (such as sludge worm…
We employ a novel computational modeling framework to perform high-fidelity direct numerical simulations of aero-structural interactions in bat-inspired membrane wings. The wing of a bat consists of an elastic membrane supported by a highly…
Insect wings can undergo significant deformation during flapping motion owing to inertial, elastic and aerodynamic forces. Changes in shape then alter aerodynamic forces, resulting in a fully coupled Fluid-Structure Interaction (FSI)…
On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios,…
The true slime mold \textit{Physarum polycephalum} has the remarkable capability to perform self-organized activities such as network formation among food sources. Despite well reproducing the emergence of slime networks, existing models…
Swarm dynamics is the study of collections of agents that interact with one another without central control. In natural systems, insects, birds, fish and other large mammals function in larger units to increase the overall fitness of the…
Drones which can swarm and loiter in a certain area cost hundreds of dollars, but mosquitos can do the same and are essentially worthless. To control swarms of low-cost robots, researchers may end up spending countless hours brainstorming…
Current system thermal-hydraulic codes have limited credibility in simulating real plant conditions, especially when the geometry and boundary conditions are extrapolated beyond the range of test facilities. This paper proposes a…
An important goal for swarming research is to create methods for predicting, controlling and designing swarms, which produce collective dynamics that solve a problem through emergent and stable pattern formation, without the need for…
Swarm robotics has potential for a wide variety of applications, but real-world deployments remain rare due to the difficulty of predicting emergent behaviors arising from simple local interactions. Traditional engineering approaches design…
Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hindered by high costs, hardware dependencies, and complex…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
In this work, Global Position System (GPS) data from a flock of homing pigeons are analysed. The flocking behaviour of the considered homing pigeons is formulated as a swarm optimal trajectory tracking control problem. The swarm problem in…
There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system.…
This paper introduces a framework for human swarm interaction studies that measures situation awareness in dynamic environments. A tablet-based interface was developed for a user study by implementing the concepts introduced in the…
We propose a novel Human-Swarm Interaction (HSI) framework which enables the user to control a swarm shape and formation. The user commands the swarm utilizing just arm gestures and motions which are recorded by an off-the-shelf wearable…
Trajectory visualization and animation play critical roles in robotics research. However, existing data visualization and animation tools often lack flexibility, scalability, and versatility, resulting in limited capability to fully explore…
The albatross optimized flight maneuver -- known as dynamic soaring -- is nothing but a wonder of biology, physics, and engineering. By utilizing dynamic soaring, the bird can travel in the desired flight direction almost for free by…
It is common practice in molecular dynamics and Monte Carlo computer simulations to run multiple, separately-initialized simulations in order to improve the sampling of independent microstates. Here we examine the utility of an extreme case…