相关论文: Obstacle avoiding patterns and cohesiveness of fis…

Schooling, an archetype of collective behavior, emerges from the interactions of fish responding to visual and other informative cues mediated by their aqueous environment. In this context, a fundamental and largely unexplored question…

Fish schooling is often modeled with self-propelled particles subject to phenomenological behavioral rules. Although fish are known to sense and exploit flow features, these models usually neglect hydrodynamics. Here, we propose a novel…

One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…

Stochastic differential equations (SDE) often exhibit large random transitions. This property, which we denote as pathwise stiffness, causes transient bursts of stiffness which limit the allowed step size for common fixed time step explicit…

Animals form groups for many reasons but there are costs and benefit associated with group formation. One of the benefits is collective memory. In groups on the move, social interactions play a crucial role in the cohesion and the ability…

This paper proposes a mathematical model for replicating a simple dynamics in an aquarium with two components; bacteria and organic matter. The model is based on a system of partial differential equations (PDEs) with four components: the…

Understanding the training dynamics of deep learning models is perhaps a necessary step toward demystifying the effectiveness of these models. In particular, how do data from different classes gradually become separable in their feature…

There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control grows exponentially in…

In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…

Fish swimming style and schooling behaviour are two important aspects of underwater locomotion. How swimming style affects fish schooling is investigated by a representative problem setup consisting of two tethered NACA0012 hydrofoils…

In this paper, we obtain stability results for backward stochastic differential equations with jumps (BSDEs) in a very general framework. More specifically, we consider a convergent sequence of standard data, each associated to their own…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Fish schools are ubiquitous in marine life. Although flow interactions are thought to be beneficial for schooling, their exact effects on the speed, energetics, and stability of the group remain elusive. Recent experiments suggest that flow…

A recently developed theory of stochastic swimming is used to study the notion of coherence in active systems that couple via hydrodynamic interactions. It is shown that correlations between various modes of deformation in stochastic…

The remarkable cohesion and coordination observed in moving animal groups and their collective responsiveness to threats are thought to be mediated by scale-free correlations, where changes in the behavior of one animal influence others in…

We study the problem of model predictive control (MPC) for the fish schooling model proposed by Gautrais et al. (Annales Zoologici Fennici, 2008). The high nonlinearity of the model attributed to its attraction/alignment/repulsion law…

We present two approaches to system identification, i.e. the identification of partial differential equations (PDEs) from measurement data. The first is a regression-based Variational System Identification procedure that is advantageous in…

Early-exiting neural networks enable adaptive inference by allowing inputs to exit at intermediate classifiers, reducing computation for easy samples while maintaining high accuracy. In practice, exits can be trained sequentially by…

Collective motion is one of the most ubiquitous behaviours displayed by social organisms and has led to the development of numerous models. Recent advances in the understanding of sensory system and information processing by animals impel…

Predictive dynamical models for marine ecosystems are used for a variety of needs. Due to sparse measurements and limited understanding of the myriad of ocean processes, there is however significant uncertainty. There is model uncertainty…