Related papers: Trajectory control using an information engine

The task of determining the origin of a drifting object after it has been located is highly complex due to the uncertainties in drift properties and environmental forcing (wind, waves and surface currents). Usually the origin is inferred by…

Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…

We study an information-based mechanism of self-propulsion in noisy environment. An information swimmer maintains directional motion by periodically measuring its velocity and accordingly adjusting its friction coefficient. Assuming that…

The dissipative properties of an optical cavity can be effectively controlled by placing it in a feedback loop where the light at the cavity output is detected and the corresponding signal is used to modulate the amplitude of a laser field…

Biochemical signaling cascades transmit intracellular information while dissipating energy under nonequilibrium conditions. We model a cascade as a code string and apply information-entropy ideas to quantify an optimal transmission rate. A…

We consider motion of an overdamped Brownian particle in a washboard potential exerted to a static tilting force. The bias yields directed net particle motion, i.e. a current. It is demonstrated that with an additional time-delayed feedback…

It is known that obstacles can hydrodynamically trap bacteria and synthetic microswimmers in orbits, where the trapping time heavily depends on the swimmer flow field and noise is needed to escape the trap. Here, we use experiments and…

We propose a new perspective on Turbulence using Information Theory. We compute the entropy rate of a turbulent velocity signal and we particularly focus on its dependence on the scale. We first report how the entropy rate is able to…

We consider a system that is exactly controllable. For given initial state, terminal state and objective function, an optimal control is often well-defined. Such an optimal control has the disadvantage that although it works perfectly well…

A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…

Many biological regulatory systems process signals out of steady state and respond with a physiological delay. A simple model of regulation which respects these features shows how the ability of a delayed output to transmit information is…

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…

We consider a Geometric Brownian Information Engine to explore the effects of finite cycle time $(\tau)$ on the extractable work, power, and efficiency. We incorporate an error-free feedback controller that converts the information obtained…

We have realized real-time steering of the directed transport in a Brownian motor based on cold atoms in optical lattices, and demonstrate drifts along pre-designed paths. The transport is induced by spatiotemporal asymmetries in the…

Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…

Often it is desirable to stabilize a system around an optimal state. This can be effectively accomplished using feedback control, where the system deviation from the desired state is measured in order to determine the magnitude of the…

Quantum control theory is profitably reexamined from the perspective of quantum information, two results on the role of quantum information technology in quantum feedback control are presented and two quantum feedback control schemes,…

A procedure to enhance the quantum--classical correspondence even in situations far from the classical limit is proposed. It is based on controlling the quantum transport between classical regions using the capability to synthesize…

Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular…

This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…