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A novel mechanism of reaction-induced active molecular motion, not involving any kind of self-propulsion, is proposed and analyzed. Because of the momentum exchange with the surrounding solvent, conformational transitions in…

In this article, we investigate the convergence behavior of two classes of gathering protocols with fixed circulant topologies using tools from dynamical systems. Given a fixed number of mobile entities moving in the Euclidean plane, we…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…

Consensus control of multiagent systems arises in various robotic applications such as rendezvous and formation control. For example, to compute the control inputs of individual agents, the difference in the positions in aligned coordinate…

The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…

Following a leading vehicle is a daily but challenging task because it requires adapting to various traffic conditions and the leading vehicle's behaviors. However, the question `Does the following vehicle always actively react to the…

Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and…

Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…

In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The problem consists of finding non-intersecting trajectories between…

Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…

Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…

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…

We present initial results on a comprehensive model of structured communications, in which self- adaptation and security concerns are jointly addressed. More specifically, we propose a model of self-adaptive, multiparty communications with…

Simulation models of pedestrian dynamics have become an invaluable tool for evacuation planning. Typically crowds are assumed to stream unidirectionally towards a safe area. Simulated agents avoid collisions through mechanisms that belong…

Nonreciprocal active matter systems typically feature an asymmetric role among interacting agents, such as a pursuer-evader relationship. We propose a multi-species nonreciprocal active matter model that is invariant under permutations of…

While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…

Interaction between vehicles and pedestrians is seen in many areas such as crosswalks and intersections. In this paper, we study a totally asymmetric simple exclusion process with a bottleneck at a boundary caused by an interaction. Due to…

Recent research in pedestrian simulation often aims to develop realistic behaviors in various situations, but it is challenging for existing algorithms to generate behaviors that identify weaknesses in automated vehicles' performance in…

The dynamics of an active walker in a harmonic potential is studied experimentally, numerically and theoretically. At odds with usual models of self-propelled particles, we identify two dynamical states for which the particle condensates at…