相关论文: Perception and Steering Control in Paired Bat Flig…

In both animal and cell populations, the presence of leaders often underlies the success of collective migration processes, which we characterise by a group maintaining a cohesive configuration that consistently moves toward a target. We…

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based…

When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…

Many migratory animals regularly travel thousands of kilometers, exactly finding their destinations. It is assumed that migrants have both a compass sense to hold their course, and a map sense --- a kind of "biological" GPS --- to correct…

Numerical models indicate that collective animal behaviour may emerge from simple local rules of interaction among the individuals. However, very little is known about the nature of such interaction, so that models and theories mostly rely…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit,…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

Collective motion provides a spectacular example of self-organization in Nature. Visual information plays a crucial role among various types of information in determining interactions. Recently, experiments have revealed that organisms such…

Fish use their lateral lines to sense flows and pressure gradients, enabling them to detect nearby objects and organisms. Towards replicating this capability, we demonstrated successful leader-follower formation swimming using flow pressure…

Scaling mobility patterns have been widely observed for animals. In this paper, we propose a deterministic walk model to understand the scaling mobility patterns, where walkers take the least-action walks on a lattice landscape and prey.…

Local interactions, when individuals meet, can regulate collective behavior. In a system without any central control, the rate of interaction may depend simply on how the individuals move around. But interactions could in turn influence…

Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…

Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…

Learning the dense bird's eye view (BEV) motion flow in a self-supervised manner is an emerging research for robotics and autonomous driving. Current self-supervised methods mainly rely on point correspondences between point clouds, which…

Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its feet as well. Specifically, we explore how trajectory…

Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…

Understanding primate behavior is a mission-critical goal of both biology and biomedicine. Despite the importance of behavior, our ability to rigorously quantify it has heretofore been limited to low-information measures like preference,…

Collective patterns of motion emerge across biological taxa: insects swarm, fish school, and birds flock. In particular, large migratory birds form strikingly ordered V-shaped formations, which experiments and direct numerical simulations…

Despite progress developing experimentally-consistent models of insect in-flight sensing and feedback for individual agents, a lack of systematic understanding of the multi-agent and group performance of the resulting bio-inspired sensing…