相关论文: Body-attitude coordination in arbitrary dimension

We carry out the Ewald summation for the Rotne-Prager-Yamakawa mobility tensor, the Oseen mobility tensor and further variations of both, relevant for the hydrodynamic interactions in colloidal suspensions, where all interacting particles…

We study the contact geometry of the connected components of the energy hypersurface, in the symmetric restricted 3-body problem on $\mathbb{S}^2$, for a specific type of motion of the primaries. In particular, we show that these components…

In real-world robotics applications, accurate models of robot dynamics are critical for safe and stable control in rapidly changing operational conditions. This motivates the use of machine learning techniques to approximate robot dynamics…

A deterministic attitude estimator for a rigid body under an attitude dependent potential is studied. This estimator requires only a single direction measurement to a known reference point at each measurement instant. The measurement cannot…

This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…

Collective organization in physical, biophysical, and biological systems often emerges from many weak, local interactions, yet the resulting global structures display striking regularities and apparent limits in diversity. Existing…

A plethora of active matter models exist that describe the behavior of self-propelled particles (or swimmers), both with and without hydrodynamics. However, there are few studies that consider shape-anisotropic swimmers and include…

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…

We report extensive simulations of liquid supercooled states for a simple three-sites molecular model, introduced by Lewis and Wahnstr"om [L. J. Lewis and G. Wahnstr"om, Phys. Rev. E 50, 3865 (1994)] to mimic the behavior of…

Alignment interactions in active matter are typically modeled as relaxational dynamics toward local consensus. In unbounded systems, this makes alignment effectively decoupled from local density and therefore unable to sustain self-confined…

In the quest to understand large-scale collective behavior in active matter, the complexity of hydrodynamic and phoretic interactions remains a fundamental challenge. To date, most works either focus on minimal models that do not (fully)…

This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…

A continuum model for self-organized dynamics is numerically investigated. The model describes systems of particles subject to alignment interaction and short-range repulsion. It consists of a non-conservative hyperbolic system for the…

Autonomous locomotion is a ubiquitous phenomenon in biology and in physics of active systems at microscopic scale. This includes prokaryotic, eukaryotic cells (crawling and swimming) and artificial swimmers. An outstanding feature is the…

Body orientation estimation provides crucial visual cues in many applications, including robotics and autonomous driving. It is particularly desirable when 3-D pose estimation is difficult to infer due to poor image resolution, occlusion or…

We simulate the space-time dynamics of high-energy collisions based on a microscopic kinetic description, in order to determine the range of applicability of an effective description in relativistic viscous hydrodynamics. We find that…

We derive a hydrodynamic model for a liquid of arbitrarily curved flux-lines and vortex loops using the mapping of the vortex liquid onto a liquid of relativistic charged quantum bosons in 2+1 dimensions recently suggested by Tesanovic and…

We provide a new hydrodynamic framework to describe out-of-equilibrium integrable systems with space-time inhomogeneous interactions. Our result builds up on the recently-introduced Generalized Hydrodynamics (GHD). The method allows to…

We propose a one-dimensional (1D) model for the three-dimensional(3D) incompressible ideal magnetohydrodynamics. We establish a regularity criterion of the Beale-Kato-Majda type for this 1D model. Without the stretching effect, the model…

Hydrodynamic interactions are important for diverse fluids especially those with low Reynold's number such as microbial and particle-laden suspensions, and proteins diffusing in membranes. Unfortunately, while far-field (asymptotic)…