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Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Morphing is a long-standing problem in vision and computer graphics, requiring a time-dependent warping for feature alignment and a blending for smooth interpolation. Recently, multilayer perceptrons (MLPs) have been explored as implicit…
Traditional stochastic control methods in finance struggle in real world markets due to their reliance on simplifying assumptions and stylized frameworks. Such methods typically perform well in specific, well defined environments but yield…
Active- and transfer-learning are applied to polymer flows for the multiscale discovery of effective constitutive approximations required in viscoelastic flow simulation. The result is macroscopic rheology directly connected to a…
Accurate and efficient fluid flow models are essential for applications relating to many physical phenomena including geophysical, aerodynamic, and biological systems. While these flows may exhibit rich and multiscale dynamics, in many…
We analyze a minimal model for a rigid spherical microswimmer and explore the consequences of its extended surface on the interplay between its self-propulsion and flow properties. The model is the first order representation of…
In marine operations underwater manipulators play a primordial role. However, due to uncertainties in the dynamic model and disturbances caused by the environment, low-level control methods require great capabilities to adapt to change.…
Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…
Simple models are used throughout the physical sciences as a means of developing intuition, capturing phenomenology, and qualitatively reproducing observations. In studies of microswimming, simple force-dipole models are commonplace,…
Transformations to create more sustainable social-ecological systems are urgently needed. Structural change is a feature of transformations of social-ecological systems that is of critical importance but is little understood. Here, we…
Finding the best strategy to minimize the time needed to find a given target is a crucial task both in nature and in reaching decisive technological advances. By considering learning agents able to switch their dynamics between standard and…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
Many plankton species undergo daily vertical migration to large depths in the turbulent ocean. To do this efficiently, the plankton can use a gyrotactic mechanism, aligning them with gravity to swim downwards, or against gravity to swim…
A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…
The design of fluid channel structures of reactors or separators of chemical processes is key to enhancing the mass transfer processes inside the devices. However, the systematic design of channel topological structures is difficult for…
Models for fluid deformable surfaces provide valid theories to describe the dynamics of thin fluidic sheets of soft materials. To use such models in morphogenesis and development requires to incorporate active forces. We consider active…
We study the effect of turbulence on marine life by performing numerical simulations of motile microorganisms, modelled as prolate spheroids, in isotropic homogeneous turbulence. We show that the clustering and patchiness observed in…
This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swimming mechanism with periodic surface deformations in the…
Unseen shifts in environment dynamics, driven by hidden parameters such as friction or gravity, create a challenge for maintaining safety. We address this challenge by proposing Adaptive Shielding, a framework for safe reinforcement…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…