Related papers: Tuning collective actuation of active solids by op…
We have developed an experimental setup of very simple self-propelled robots to observe collective motion emerging as a result of inelastic collisions only. A circular pool and commercial RC boats were the basis of our first setup, where we…
We study a lattice model of ``commons'', where a resource is shared locally among the agents of various cooperative tendency. The payoff function of an agent is proportional to the fraction of his operation rate and the net output of the…
Identifying active constraints from a point near an optimal solution is important both theoretically and practically in constrained continuous optimization, as it can help identify optimal Lagrange multipliers and essentially reduces an…
From the formation of animal flocks to the emergence of coordinate motion in bacterial swarms, at all scales populations of motile organisms display coherent collective motion. This consistent behavior strongly contrasts with the difference…
We show, through analytical theory and rigorous numerical calculations, that optical binding can organize a collection of particles into stable one-dimensional lattice. This lattice, as well as other optically-bound structures, are shown to…
We propose a new distributed optimization algorithm for solving a class of constrained optimization problems in which (a) the objective function is separable (i.e., the sum of local objective functions of agents), (b) the optimization…
We consider the dynamics of rotational excitations placed on a single molecule in spatially disordered 1D, 2D and 3D ensembles of ultracold molecules trapped in optical lattices. The disorder arises from incomplete populations of optical…
Interactions between active individuals in animal collectives lead to emergent responses that remain elusive in synthetic soft matter. Here, shape-morphing polymers are used to create bio-inspired transient solids that self-assemble with…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
Controlled activity of active entities interacting with a passive environment can generate emergent system-level phenomena, positioning such systems as promising platforms for potential downstream applications in targeted drug delivery,…
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decision variables are only directly coupled to few other agent's…
We analyse collective motion that occurs during rare (large deviation) events in systems of active particles, both numerically and analytically. We discuss the associated dynamical phase transition to collective motion, which occurs when…
Global coordination is required to solve a wide variety of challenging collective action problems from network colorings to the tragedy of the commons. Recent empirical study shows that the presence of a few noisy autonomous agents can…
The problem of placing or selecting sensors and control nodes plays a pivotal role in the operation of dynamic networks. This paper proposes optimal algorithms and heuristics to solve the simultaneous sensor and actuator selection problem…
Bacterial colonies can form a wide variety of shapes and structures based on ambient and internal conditions. To help understand the mechanisms that determine the structure of and the diversity within these colonies, various numerical…
We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the…
We study a nonlinear Glauber-Fock lattice and the conditions for the excitation of localized structures. We investigate the particular linear properties of these lattices, including linear localized modes. We investigate numerically…
We study actions by lattices in higher-rank (semi)simple Lie groups on compact manifolds. By classifying certain measures invariant under a related higher-rank abelian action (the diagonal action on the suspension space) we deduce a number…
We study collective dynamics of interacting centers of exciton-polariton condensation in presence of spatial inhomogeneity, as modeled by diatomic active oscillator lattices. The mode formalism is developed and employed to derive existence…
The most recent manifestation of cold Rydberg atom quantum simulators that employs tailored optical tweezer arrays enables the study of many-body dynamics under so-called facilitation conditions. We show how the facilitation mechanism…