Related papers: Steering undulatory micro-swimmers in a fluid flow…

Sand is a highly dissipative system, where the local spatial arrangements and densities depend strongly on the applied forces, resulting in fluid-like or solid-like behaviour. This makes sand swimming challenging and intriguing, raising…

Many microorganisms swim by performing larger non-reciprocal shape deformations that are initiated locally by molecular motors. However, it remains unclear how decentralized shape control determines the movement of the entire organism.…

The swimming of an assembly of rigid spheres immersed in a viscous fluid of infinite extent is studied in low Reynolds number hydrodynamics. The instantaneous swimming velocity and rate of dissipation are expressed in terms of the…

Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…

The development of self-propelled particles at the micro- and the nanoscale has sparked a huge potential for future applications in active matter physics, microsurgery, and targeted drug delivery. However, while the latter applications…

In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…

A variety of swimming microorganisms, called ciliates, exploit the bending of a large number of small and densely-packed organelles, termed cilia, in order to propel themselves in a viscous fluid. We consider a spherical envelope model for…

Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…

This paper studies the fish growth trajectory tracking via reinforcement learning under a representative bioenergetic growth model. Due to the complex aquaculture condition and uncertain environmental factors such as temperature, dissolved…

We consider a model of two competing microswimming agents engaged in a pursue-evasion task within a low-Reynolds-number environment. Agents can only perform simple maneuvers and sense hydrodynamic disturbances, which provide ambiguous…

The swimming of a sphere immersed in a viscous incompressible fluid with inertia is studied for surface modulations of small amplitude on the basis of the Navier-Stokes equations. The mean swimming velocity and the mean rate of dissipation…

Microswimmers, and among them aspirant microrobots, generally have to cope with flows where viscous forces are dominant, characterized by a low Reynolds number ($Re$). This implies constraints on the possible sequences of body motion, which…

Although Reinforcement Learning (RL) algorithms have found tremendous success in simulated domains, they often cannot directly be applied to physical systems, especially in cases where there are hard constraints to satisfy (e.g. on safety…

We introduce a reinforcement learning (RL) environment to design and benchmark control strategies aimed at reducing drag in turbulent fluid flows enclosed in a channel. The environment provides a framework for computationally-efficient,…

Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires a policy to be optimized is state-dependent, that means, the policy is a kind of…

Undulatory locomotion is ubiquitous in nature and observed in different media, from the swimming of flagellated microorganisms in biological fluids, to the slithering of snakes on land, or the locomotion of sandfish lizards in sand. Despite…

Active flexible filaments form the classical continuum framework for modelling the locomotion of spermatozoa and algae driven by the periodic oscillation of flagella. This framework also applies to the locomotion of various artificial…

This study investigates a method to guide and control fish schools using virtual fish trained with reinforcement learning. We utilize 2D virtual fish displayed on a screen to overcome technical challenges such as durability and movement…

We consider the problem of olfactory searches in a turbulent environment. We focus on agents that respond solely to odor stimuli, with no access to spatial perception nor prior information about the odor. We ask whether navigation to a…

While deep learning has shown tremendous success in a wide range of domains, it remains a grand challenge to incorporate physical principles in a systematic manner to the design, training, and inference of such models. In this paper, we aim…