Related papers: Steering laws for motion camouflage
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…
Camouflage in nature seems to arise from competition between predator and prey. To survive, predators must find prey, and prey must avoid being found. This work simulates an abstract model of that adversarial relationship. It looks at…
We derive a modular fluid-flow network congestion control model based on a law of fundamental nature in networks: the conservation of information. Network elements such as queues, users, and transmission channels and network performance…
Active control of quantum systems enables diverse applications ranging from quantum computation to manipulation of molecular processes. Maximum speeds and related bounds have been identified from uncertainty principles and related…
We introduce a generic, purely mechanical model for environment sensitive motion of mammalian cells that is applicable to chemotaxis, haptotaxis, and durotaxis as modes of motility. It is able to theoretically explain all relevant…
A discrete chemotactic predator-prey model is proposed in which the prey secrets a diffusing chemical which is sensed by the predator and vice versa. Two dynamical states corresponding to catching and escaping are identified and it is shown…
We introduce a form of steganography in the domain of machine learning which we call training set camouflage. Imagine Alice has a training set on an illicit machine learning classification task. Alice wants Bob (a machine learning system)…
Proprioception is a human sense that provides feedback from muscles and joints about body position and motion. This key capability keeps us upright, moving, and responding quickly to slips or stumbles. In this paper we discuss a…
We study a model of traffic where drivers adopt different behavioral strategies. These can be cooperative or defective according to a driver abiding or not by a traffic rule. Drivers can change their strategy by imitating the majority, with…
This paper considers a group of mobile autonomous agents moving in Euclidean space with point mass dynamics. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control…
A general scheme for construction of dynamical systems able to learn generation of the desired kinds of dynamics through adjustment of their internal structure is proposed. The scheme involves intrinsic time-delayed feedback to steer the…
A modular fluid-flow model for network congestion analysis and control is proposed. The model is derived from an information conservation law stating that the information is either in transit, lost or received. Mathematical models of…
This study investigates the role of haptic feedback in a car-following scenario, where information about the motion of the front vehicle is provided through a virtual elastic connection with it. Using a robotic interface in a simulated…
We investigate a measurement-feedback process of repeated operations with time delay. During a finite-time interval, measurement on the system is performed and the feedback protocol derived from the measurement outcome is applied with time…
Time delay in general leads to instability in some systems, while a specific feedback with delay can control fluctuated motion in nonlinear deterministic systems to a stable state. In this paper, we consider a non-stationary stochastic…
This paper presents policy-based motion planning for robotic systems. The motion planning literature has been mostly focused on open-loop trajectory planning which is followed by tracking online. In contrast, we solve the problem of path…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…