相关论文: Optimal motion of a scallop: some case studies

Various microswimmers move along circles rather than straight lines due to their swimming mechanisms, body shapes or hydrodynamic effects. Here, we adopt the concepts of stochastic thermodynamics to analyze circle swimmers confined in a…

The paper is mostly devoted to applications of a novel optimal control theory for perturbed sweeping/Moreau processes to two practical dynamical models. The first model addresses mobile robot dynamics with obstacles, and the second one…

The paper is about the parking 3-sphere swimmer ($\text{sPr}_3$). This is a low-Reynolds number model swimmer composed of three balls of equal radii. The three balls can move along three horizontal axes (supported in the same plane) that…

Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…

In this paper we present a dynamic programing approach to stochastic optimal control problems with dynamic, time-consistent risk constraints. Constrained stochastic optimal control problems, which naturally arise when one has to consider…

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…

The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…

We address the swimming problem at low Reynolds number. This regime, which is typically used for micro-swimmers, is described by Stokes equations. We couple a PDE solver of Stokes equations, derived from the Feel++ finite elements library,…

Optimal control is a central problem in quantum thermodynamics. When minimizing dissipated work and work fluctuations defined via the two-point measurement scheme in open quantum systems, existing approaches largely focus on the rapid- and…

We study local structure of time-optimal controls and trajectories for a 3-dimensional control-affine system with a 2-dimensional control parameter with values in the disk. In particular, we give sufficient conditions, in terms of Lie…

The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics. In current work, we study this…

Optimal control of large particle systems with collective dynamics by few agents is a subject of high practical importance (e.g. in evacuation dynamics), but still limited mathematical basis. In particular the transition from discrete…

Micro-nano-robotic swimmers have promising potential for future biomedical tasks such as targeted drug delivery and minimally-invasive diagnosis. An efficient method for controlled actuation of such nano-swimmers is applying a rotating…

In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

The task of maneuvering ships in confined environments is a difficult task for a human operator. One major reason is due to the complex and slow dynamics of the ship which need to be accounted for in order to successfully steer the vehicle.…

Marine mammal biomechanics research has focused on straight-line swimming at consistent speeds, resulting in a lack of knowledge about how animals select movement strategies to balance cost vs performance during tasks like cornering. In…

The three-sphere swimmer by Najafi and Golestanian is composed of three spheres connected by two arms. The case in which the swimmer can control the lengths of the two arms has been studied in detail. Here we study a variation of the model…

This work studies the motion of Purcell's three-link microswimmer in viscous flow, by using perturbation expansion of its dynamics under small-amplitude strokes. Leading-order expressions and next-order correction terms for the displacement…