相关论文: Scale invariant robot behavior with fractals

In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…

When designing a robot's internal system, one often makes assumptions about the structure of the intended environment of the robot. One may even assign meaning to various internal components of the robot in terms of expected environmental…

Many natural systems show emergent phenomena at different scales, leading to scaling regimes with signatures of chaos at large scales and an apparently random behavior at small scales. These features are usually investigated quantitatively…

The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…

Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…

Nowadays, multiscale modelling is recognized as the most suitable way to study biological processes. Indeed, almost every phenomenon in nature exhibits a multiscale behaviour, i.e., it is the outcome of interactions that occur at different…

Using the mechanism of spontaneous symmetry breaking of scale invariance obtained from the dynamics of maximal rank field strengths, it is possible to spontaneously generate confining behavior. Introducing a dilaton field, the study of non…

Flagellated microorganisms can swim at low Reynolds numbers and adapt to changes in their environment. Specifically, the flagella can switch their shapes or modes through gene expression. In the past decade, efforts have been made to…

In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the…

We introduce a method that permits to co-evolve the body and the control properties of robots. It can be used to adapt the morphological traits of robots with a hand-designed morphological bauplan or to evolve the morphological bauplan as…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

The organization in brain networks shows highly modular features with weak inter-modular interaction. The topology of the networks involves emergence of modules and sub-modules at different levels of constitution governed by fractal laws.…

For the robots to achieve a desired behavior, we can program them directly, train them, or give them an innate driver that makes the robots themselves desire the targeted behavior. With the minimal surprise approach, we implant in our…

Scale independence is a ubiquitous feature of complex systems which implies a highly skewed distribution of resources with no characteristic scale. Research has long focused on why systems as varied as protein networks, evolution and stock…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

Many models of fractal growth patterns (like Diffusion Limited Aggregation and Dielectric Breakdown Models) combine complex geometry with randomness; this double difficulty is a stumbling block to their elucidation. In this paper we…

Animals can accomplish many incredible behavioral feats across a wide range of operational environments and scales that current robots struggle to match. One explanation for this performance gap is the extraordinary properties of the…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

Autonomy for robots interacting with sand will enable a wide range of beneficial behaviors, from earth moving for construction and farming vehicles to navigating rough terrain for Mars rovers. The goal of this work is to shape sand into…