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Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
Fishes, cetaceans, and many other aquatic vertebrates undulate their bodies to propel themselves through water. Swimming requires an intricate interplay between sensing the environment, making decisions, controlling internal dynamics, and…
Fish-inspired aquatic robots are gaining increasing attention in marine robot communities due to their high swimming speeds and efficient propulsion enabled by flexible bodies that generate undulatory motions. To support the design…
One of the most highly debated questions in the field of animal swarming and social behaviour, is the collective random patterns and chaotic behaviour formed by some animal species, in particular if there is a danger. Is such a behaviour…
Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…
Particular types of plankton in aquatic ecosystems can coordinate their motion depending on the local flow environment to reach regions conducive to their growth or reproduction. Investigating their swimming strategies with regard to the…
Fish locomotion emerges from a diversity of interactions among deformable structures, surrounding fluids and neuromuscular activations, i.e., fluid-structure interactions (FSI) controlled by fish's motor systems. Previous studies suggested…
Pursuit-evasion games are ubiquitous in nature and in an artificial world. In nature, pursuer(s) and evader(s) are intelligent agents that can learn from experience, and dynamics (i.e., Newtonian or Lagrangian) is vital for the pursuer and…
Microswimmers in turbulent flows often navigate complex, heterogeneous, and obstacle-rich environments, where they exhibit intricate behaviors such as trapping at and escape from obstacles. We generalize recent $\mathcal{Q}-$learning…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
Undulatory swimming is a widespread propulsion strategy adopted by many small-scale organisms including various single-cell eukaryotes and nematodes. In this work, we report a comprehensive study of undulatory locomotion of a finite…
Understanding efficient fish locomotion offers insights for biomechanics, fluid dynamics, and engineering. Traditional studies often miss the link between neuromuscular control and whole-body movement. To explore energy transfer in…
The behavior of living systems is based on the experience they gained through their interactions with the environment [1]. This experience is stored in the complex biochemical networks of cells and organisms to provide a relationship…
Certain flow structures trap active microorganisms over extended periods, impacting mortality and growth by inhibiting foraging, exploration, and predator evasion. We show that transport barriers and trapping of a microswimmer in unsteady…
The exceptional reactivity of animal collectives to predatory attacks is thought to be due to rapid, but local, transfer of information between group members. These groups turn together in unison and produce escape waves. However, it is not…
In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…
Reinforcement learning is employed to optimize the periodic forcing signal of a pulsed blowing system that controls flow separation in a fully-turbulent $Re_\theta = 1000$ diffuser flow. Based on the state of the wind tunnel experiment that…
We present a novel model of stochastic differential equations for foraging behavior of fish schools in space including obstacles. We then study the model numerically. Three configurations of space with different locations of food resource…
Navigating in a fluid flow while being carried by it, using only information accessible from on-board sensors, is a problem commonly faced by small planktonic organisms. It is also directly relevant to autonomous robots deployed in the…