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Animals employ different strategies for relating sensory input to behavioral output to navigate sensory environments, but what strategy to use, when to switch and why remain unclear. In C. elegans, navigation is composed of 'steering' and…
Sperm cooperation has evolved in a variety of taxa and is often considered a response to sperm competition, yet the benefit of this form of collective movement remains unclear. Here we use fine-scale imaging and a minimal mathematical model…
Animals use a combination of egocentric navigation driven by the internal integration of environmental cues, interspersed with geocentric course correction and reorientation, often with uncertainty in sensory acquisition of information,…
It has been found that certain biological organisms, such as Erodium seeds and Scincus scincus, are capable of effectively and efficiently burying themselves in soil. Biological Organisms employ various locomotion modes, including coiling…
In this paper, we describe a broad class of control functions for extremum seeking problems. We show that it unifies and generalizes existing extremum seeking strategies which are based on Lie bracket approximations, and allows to design…
Swimming organisms can escape their predators by creating and harnessing unsteady flow fields through their body motions. Stochastic optimization and flow simulations have identified escape patterns that are consistent with those observed…
A recently introduced general-purpose heuristic for finding high-quality solutions for many hard optimization problems is reviewed. The method is inspired by recent progress in understanding far-from-equilibrium phenomena in terms of {\em…
Unmanned Aerial Vehicles (UAVs) have a great potential to support search tasks in unstructured environments. Small, lightweight, low speed and agile UAVs, such as multi-rotors platforms can incorporate many kinds of sensors that are…
Current theories suggest that adaptive decision-making necessitates the interaction between multiple decision-making systems. The computational definitions of different models of decision-making suggest interactions with task demands and…
To navigate a space, the brain makes an internal representation of the environment using different cells such as place cells, grid cells, head direction cells, border cells, and speed cells. All these cells, along with sensory inputs,…
Flocking behavior is observed in biological systems from the cellular to super-organismal length scales, and the mechanisms and purposes of this behavior are objects of intense interest. In this paper, we study the collective dynamics of…
The detection of echolocation clicks is key in understanding the intricate behaviors of cetaceans and monitoring their populations. Cetacean species relying on clicks for navigation, foraging and even communications are sperm whales…
Experiments show that the movement of eukaryotic cells is regulated by a process of phase separation of two competing enzymes on the cell membrane, that effectively amplifies shallow external gradients of chemical attractant. Notably, the…
Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…
Robotic motion planning problems are typically solved by constructing a search tree of valid maneuvers from a start to a goal configuration. Limited onboard computation and real-time planning constraints impose a limit on how large this…
Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…
We present several algorithms designed to learn a pattern of correspondence between two data sets in situations where it is desirable to match elements that exhibit a relationship belonging to a known parametric model. In the motivating…
Motility is a fundamental survival strategy of bacteria to navigate porous environments. Swimming cells thrive in quiescent wetlands and sediments at the bottom of the marine water column, where they mediate many essential biogeochemical…
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots sharing identical roles and capabilities. However, recent…
Evolutionary algorithms are popular heuristics for solving various combinatorial problems as they are easy to apply and often produce good results. Island models parallelize evolution by using different populations, called islands, which…