Related papers: Collective synchronization of undulatory movement …
Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked…
The features of animal population dynamics, for instance, flocking and migration, are often synchronized for survival under large-scale climate change or perceived threats. These coherent phenomena have been explained using synchronization…
In this work, we study a system of passive Brownian (non-self-propelled) particles in two dimensions, interacting only through a social-like force (velocity alignment in this case) that resembles Kuramoto's coupling among phase oscillators.…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Computational models of collective behavior in birds has allowed us to infer interaction rules directly from experimental data. Using a generic form of these rules we explore the collective behavior and emergent dynamics of a simulated…
Animals achieve robust locomotion by offloading regulation from the brain to physical couplings within the body. In contrast, locomotion in artificial systems often depends on centralized processors. We introduce a rapid and autonomous…
The emerging collective motions of swarms of interacting agents are a subject of great interest in application areas ranging from biology to physics and robotics. In this paper, we conduct a careful analysis of the collective dynamics of a…
A novel viewpoint, i.e., adaptive synchronization, is proposed to explore collective rhythm observed in many complex, self-organizing systems. We show that a simple adaptive coupling is able to tip arrays of oscillators towards collective…
Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…
We study a system of two-mode stochastic oscillators coupled through their collective output. As a function of a relevant parameter four qualitatively distinct regimes of collective behavior are observed. In an extended region of the…
We investigate the effects of delayed interactions in a population of ``swarmalators", generalizations of phase oscillators that both synchronize in time and swarm through space. We discover two steady collective states: a state in which…
Group synchronization arises when two or more synchronization patterns coexist in a network formed of oscillators of different types, with the systems in each group synchronizing on the same time-evolution, but systems in different groups…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
Synchronization is a universal phenomenon, seen in systems as diverse as superconducting Josephson junctions and discharging pacemaker cells. Here the elements have rhythmic state variables whose mutual influence promotes temporal order. A…
Different aspects of synchronization emerging in dynamical networks of coupled oscillators have been examined prominently in the last decades. Nevertheless, little attention has been paid on the emergence of this imperative collective…
We investigate the synchronization of active rotors. A rotor is composed of a free-rotating arm with a particle that releases a surface-active chemical compound. It exhibits self-rotation due to the surface tension gradient originating from…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Living systems exhibit complex yet organized behavior on multiple spatiotemporal scales. To investigate the nature of multiscale coordination in living systems, one needs a meaningful and systematic way to quantify the complex dynamics, a…
In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and…