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In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
Hydrodynamic interaction strongly influences the collective behavior of the microswimmers. With this work, we study the behavior of two hydrodynamically interacting self-propelled chiral swimmers in the low Reynolds number regime,…
We study synchronization of an array of rotors on a substrate that are coupled by hydrodynamic interaction. The rotors that are modeled by an effective rigid body, are driven by an internal torque and exerts an active force on the…
For nearly a century, researchers have tried to understand the swimming of aquatic animals in terms of a balance between the forward thrust from swimming movements and drag on the body. Prior approaches have failed to provide a separation…
We study the dynamics and interaction of two swimming bacteria, modeled by self-propelled dumbbell-type structures. We focus on alignment dynamics of a coplanar pair of elongated swimmers, which propel themselves either by pushing" or…
Different collective behaviors emerging from the unknown have been examined in networks of mobile agents in recent years. Mobile systems, far from being limited to modeling and studying various natural and artificial systems in motion and…
We study theoretically the behavior of a class of hydrodynamic dipoles. This study is motivated by recent experiments on synthetic and biological swimmers in microfluidic \textit{Hele-Shaw} type geometries. Under such confinement, a…
A dilute non-interacting suspension of micro-swimmers exhibits a finite velocity variance and short-ranged correlations that decay over a swimmer length. For a suspension of interacting straight swimmers, however, pair-interactions leads to…
We investigated the effect of time delays on phase configurations in a set of two-dimensional coupled phase oscillators. Each oscillator is allowed to interact with its neighbors located within a finite radius, which serves as a control…
Robotic adaptation to unanticipated operating conditions is crucial to achieving persistence and robustness in complex real world settings. For a wide range of cutting-edge robotic systems, such as micro- and nano-scale robots, soft robots,…
We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a…
We define a model microswimmer with a variable cycle time, thus allowing the possibility of phase locking driven by hydrodynamic interactions between swimmers. We find that, for extensile or contractile swimmers, phase locking does occur,…
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…
Diverse collective dynamics emerge in dynamical systems interacting on top of complex network architectures. Along this line of research, temporal network has come out to be one of the most promising network platforms to investigate.…
We study the entanglement dynamics of a system consisting of a large number of coupled harmonic oscillators in various configurations and for different types of nearest neighbour interactions. For a one-dimensional chain we provide compact…
We investigate synchronization caused by long-range hydrodynamic interaction in a two-dimensional, substrated array of rotors with random intrinsic frequencies. The rotor mimics a flagellated bacterium that is attached to the substrate…
We investigate macroscopic behavior of a dynamical network consisting of a time-evolving wiring of interactions among a group of random walkers. We assume that each walker (agent) has an oscillator and show that depending upon the nature of…
We use a three-bead-spring model to investigate the dynamics of bi-flagellate micro-swimmers near a surface. While the primary dynamics and scattering are governed by geometric-dependent direct contact, the fluid flows generated by the…
In a recent series of papers, we proposed a mathematical model for the dynamics of a group of interacting pedestrians. The model is based on a non-Newtonian potential, that accounts for the need of pedestrians to keep both their interacting…