相关论文: Optimal Control Strategies for Active Particle Nav…
An artificial microswimmer drifts in response to spatio-temporal modulations of an activating suspension medium. We consider two competing mechanisms capable of influencing its tactic response: angular fluctuations, which help it explore…
We seek the best stroke sequences of a finite-size swimming predator chasing a non-motile point or finite--size prey at low Reynolds number. We use optimal control to seek the globally-optimal solutions for the former and RL for general…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
Living microorganisms are capable of a tactic response to external stimuli by swimming towards or away from the stimulus source; they do so by adapting their tactic signal transduction pathways to the environment. Their self-motility thus…
The paper is devoted to a free-time optimal control problem for sweeping processes. We develop a constructive finite-difference approximation procedure that allows us to establish necessary optimality conditions for discrete optimal…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Intelligent behavior in life-like systems often arises from the ability to gather, process, and act on information. While active matter provides a framework for studying life-like dynamics, it typically omits internal information-processing…
A stochastic differential game theoretic model has been proposed to determine optimal behavior of a fish while migrating against water currents both in rivers and oceans. Then, a dynamic objective function is maximized subject to two…
Feedback particle filter (FPF) is an algorithm to numerically approximate the solution of the nonlinear filtering problem in continuous time. The algorithm implements a feedback control law for a system of particles such that the empirical…
We address the challenge of computing search paths in real-time for subsea applications where the goal is to locate an unknown number of targets on the seafloor. Our approach maximizes a formal definition of search effectiveness given…
Optimizing paths on networks is crucial for many applications, from subway traffic to Internet communication. As global path optimization that takes account of all path-choices simultaneously is computationally hard, most existing routing…
Exploiting a fluid dynamic formulation for which a probabilistic counterpart might not be available, we extend the theory of Schroedinger bridges to the case of inertial particles with losses and general, possibly singular diffusion…
We study discrete-time finite-horizon optimal control problems in probability spaces, whereby the state of the system is a probability measure. We show that, in many instances, the solution of dynamic programming in probability spaces…
Microswimmers typically operate in complex environments. In biological systems, often diverse species are simultaneously present and interact with each other. Here, we derive a (time-dependent) particle-scale statistical description, namely…
Developing behavioral policies designed to efficiently solve target-search problems is a crucial issue both in nature and in the nanotechnology of the 21st century. Here, we characterize the target-search strategies of simple microswimmers…
Active diffusiophoresis - swimming through interaction with a self-generated, neutral, solute gradient - is a paradigm for autonomous motion at the micrometer scale. We study this propulsion mechanism within a linear response theory.…
We analyze the statistics of the shortest and fastest paths on the road network between randomly sampled end points. To a good approximation, these optimal paths are found to be directed in that their lengths (at large scales) are linearly…
We consider a model of an intelligent surfer moving on the Ulam network generated by a chaotic dynamics in the Chirikov standard map. This directed network is obtained by the Ulam method with a division of the phase space in cells of fixed…
The optimal disturbance rejection control problem is considered for consensus tracking systems affected by external persistent disturbances and noise. Optimal estimated values of system states are obtained by recursive filtering for the…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…