Related papers: Distributed Control of Microscopic Robots in Biome…
Microfluidic channels have emerged as useful tools to control dynamic forcing on transported microscale objects, as encountered in emulsions, biological flows, and other soft matter systems. Tailored channel designs enable precise…
Biological systems sense and extract information from fluctuating signals while operating under energetic constraints and limited resolution. We introduce a general chemical model in which a sensor, coupled to a signaling pathway activated…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…
The activity of biological cells is primarily based on chemical reactions and typically modeled as a reaction-diffusion system. Cells are, however, highly crowded with macromolecules, including a variety of molecular machines such as…
Microplastics, defined as plastic particles smaller than 5 millimeters, have become a pervasive environmental contaminant that accumulates on beaches due to wind patterns and tidal forcing. Detecting microplastics and mapping their…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured environments, where disturbances and unmodeled dynamics are…
Living organisms rely on endogenous feedback mechanisms to maintain homeostasis in the presence of uncertainty and environmental fluctuations. An emerging challenge at the interface of control systems engineering and synthetic biology is…
Brownian motion is essential for describing diffusion in systems ranging from simple to complex liquids. Unlike simple liquids, which consist of only a solvent, complex liquids, such as colloidal suspensions or the cytoplasm of a cell, are…
Nanofluidics, the field interested in flows at the smallest scales, has grown at a fast pace, reaching an ever finer control offluidic and ionic transport at the molecular level. Still, artificial pores are far from reaching the wealth of…
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…
With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…