相关论文: The dynamics of scattering in undulatory active co…

We extend the study of the inertial effects on the dynamics of active agents to the case where self-alignment is present. In contrast with the most common models of active particles, we find that self-alignment, which couples the rotational…

Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this…

We investigate the potential of mutual scattering, i.e., light scattering with multiple properly phased incident beams, as a method to extract structural information from inside an opaque object. In particular, we study how sensitively the…

Scattering problems are the classical tools for modeling of light-matter interaction. In this paper, we investigate the solution of the dipole scattering problem under different incident radiation.s In particular, we compare the two cases…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by…

It is known that there are lattice models in which non-interacting particles get dynamically localized when periodic $\delta$-function kicks are applied with a particular strength. We use both numerical and analytical methods to study the…

Based on the Maxwell-Beatty reciprocity theorem, static non-reciprocity has been realized by using nonlinearity, but this non-reciprocity has strict restrictions on input amplitude and structure size (number of units). Here, we propose a…

This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…

The identification of cells and particles based on their transport properties in microfluidic devices is crucial for numerous applications in biology and medicine. Neutrally buoyant particles transported in microfluidic channels, migrate…

A system of particles with motility variable in terms of a vision-type of perception is here investigated by a combination of Langevin dynamics simulations in two-dimensional systems and an analytical approach based on conservation law…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Movements of molecular motors on cytoskeletal filaments are described by directed walks on a line. Detachment from this line is allowed to occur with a small probability. Motion in the surrounding fluid is described by symmetric random…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

The self-avoid random walk algorithm has been extensively used in the study of polymers. In this work we study the basic properties of the trajectories generated with this algorithm when two interactions are added to it: contact and folding…

Combining experiments and theory, we address the dynamics of self-propelled particles in crowded environments. We first demonstrate that motile colloids cruising at constant speed through random lattices undergo a smooth transition from…

The increasing, high-risk interactions between vehicles and vulnerable micromobility users, such as e-scooter riders, challenge vehicular safety functions and Automated Driving (AD) techniques, often resulting in severe consequences due to…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

We study numerically the phases and dynamics of a dense collection of self-propelled particles with soft repulsive interactions in two dimensions. The model is motivated by recent in vitro experiments on confluent monolayers of migratory…

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…