Related papers: Dynamic driving enables independent control of mat…
A wide array of biological systems can navigate in shallow gradients of chemoattractant with remarkable precision. Whilst previous approaches model such systems using coarse-grained chemical density profiles, we construct a dynamical model…
We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for settings with real-time requirements but also provide provable…
The initial location of data in DRAMs is determined and controlled by the 'address-mapping' and even modern memory controllers use a fixed and run-time-agnostic address mapping. On the other hand, the memory access pattern seen at the…
Digital information can be encoded in the building-block sequence of macro-molecules, such as RNA and single-stranded DNA. Methods of "writing" and "reading" macromolecular strands are currently available, but they are slow and expensive.…
Deep learning is the backbone of artificial intelligence technologies, and it can be regarded as a kind of multilayer feedforward neural network. An essence of deep learning is information propagation through layers. This suggests that…
Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this…
A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
Reconfigurable metasurfaces are potent platforms to control the propagation properties of light dynamically. Among different reconfiguration mechanisms available at optical frequencies, using non-volatile phase change materials is one of…
Motion control of droplets has generated much attention for its applications to microfluidics, where precise control of small fluid volumes is an imperative requirement. Mechanical vibrations have been shown to be effective at inducing…
Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics, which is difficult to be modeled precisely. We propose a…
The manipulation of geometrically constrained magnetic domain walls (DWs) in nanoscale magnetic strips has attracted much interest recently, with proposals for prospective memory and logic devices. Here we propose to use the high…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
We investigate the dynamical motion of particles on a two-dimensional symmetric periodic substrate in the presence of both a dc drive along a symmetry direction of the periodic substrate and an additional circular ac drive. For large enough…
We develop an optimization framework centered around a core idea: once a (parametric) policy is specified, control authority is transferred to the policy, resulting in an autonomous dynamical system. Thus we should be able to optimize…
Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…
We propose a multi-scale approach for computing abstractions of dynamical systems, that incorporates both local and global optimal control to construct a goal-specific abstraction. For a local optimal control problem, we not only design the…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Safety-critical controllers of complex systems are hard to construct manually. Automated approaches such as controller synthesis or learning provide a tempting alternative but usually lack explainability. To this end, learning decision…
We theoretically explore optical bistability for possible signature of all optical switching and their performance in a hybrid quantum optomechanical system comprising of two semiconductor microcavity coupled optically. One of the cavity is…