Related papers: Tuning collective actuation of active solids by op…
Active solids consist of elastically coupled out-of-equilibrium units performing work. They are central to autonomous processes, such as locomotion, self-oscillations and rectification, in biological systems,designer materials and robotics.…
Collective actuation describes the spontaneous synchronized oscillations taking place in active solids, when the elasto-active feedback, that generically couples the reorientation of the active forces and the elastic stress, is large…
Collective actuation in active solids, the spontaneous condensation of the dynamics on a few elastic modes, takes place whenever the deformations of the structure reorient the forces exerted by the active units composing, or embedded in,…
The recent finding of collective actuation in active solids, namely solids embedded with active units, opens the path towards multifunctional materials with genuine autonomy. In such systems, collective dynamics emerge spontaneously and…
Collective actuation in active solids - the spontaneous coherent excitation of a few vibrational modes - emerges from a feedback between structural deformations and the orientation of active forces. It is an excellent candidate as a basic…
Self-organization phenomena in ensembles of self-propelled particles open pathways to the synthesis of new dynamic states not accessible by traditional equilibrium processes. The challenge is to develop a set of principles that facilitate…
A system comprised of an elastic solid and its response to an external random force sequence is shown to behave based on the principles of the theory of algorithmic complexity and randomness. The solid distorts the randomness of an input…
We study the localization of a cluster of activated vertices in a graph, from adaptively designed compressive measurements. We propose a hierarchical partitioning of the graph that groups the activated vertices into few partitions, so that…
Diverse optimization algorithms correctly identify, in finite time, intrinsic constraints that must be active at optimality. Analogous behavior extends beyond optimization to systems involving partly smooth operators, and in particular to…
Internal activity can fundamentally reshape the mechanical behavior of solids, yet its role in softening and failure remains incompletely understood. In this study, we investigate spontaneous deformations in activated solids via non-affine…
Active systems, from bacterial suspensions to cellular monolayers, are continuously driven out of equilibrium by local injection of energy from their constituent elements and exhibit turbulent-like and chaotic patterns. Here we demonstrate…
We introduce a simple model of self-propelled agents connected by linear springs, with no explicit alignment rules. Below a critical noise level, the agents self-organize into a collectively translating or rotating group. We derive…
Self-organization is frequently observed in active collectives, from ant rafts to molecular motor assemblies. General principles describing self-organization away from equilibrium have been challenging to identify. We offer a unifying…
With increasing emphasis on the study of active solids, the features of these classes of nonequilibrium systems and materials beyond their mere existence shift into focus. One concept of active solids addresses them as active,…
We show, through experiments and simulations, that geometrically polar granular rods, rendered active by the transduction of vertical vibration, undergo a collective trapping phase transition in the presence of a V-shaped obstacle when the…
We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…
Active localization is the problem of generating robot actions that allow it to maximally disambiguate its pose within a reference map. Traditional approaches to this use an information-theoretic criterion for action selection and…
Active nematics are out-of-equilibrium systems in which energy injection at the microscale drives emergent collective behaviors, from spontaneous flows to active turbulence. While the dynamics of these systems have been extensively studied,…
In Reinforcement Learning, agents learn policies by exploring and interacting with the environment. Due to the curse of dimensionality, learning policies that map high-dimensional sensory input to motor output is particularly challenging.…
We propose a methodology for the homogenization of periodic elastic lattices that covers the case of unstable lattices, having affine (macroscopic) or periodic (microscopic) mechanisms. The singular cell problems that are encountered when a…