相关论文: Collision Induced Binding and Transport of Shape C…

We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing smarticle robots undergoing locally repulsive collisions. Borrowing terminology from Conway's simulated Game of Life, these…

An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…

This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…

This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

Many biological systems synchronize their movement through physical interactions. By far the most well studied examples concern physical interactions through a fluid: beating cilia, swimming sperm and worms, and flapping wings, all display…

Many animals and robots move using undulatory motion of their bodies. When in close proximity undulatory motion can lead to novel collective behaviors such as gait synchronization, spatial reconfiguration, and clustering. Here we study the…

The paper presents results of investigations of small bodies dynamics in a vicinity of giant planets. We used the most simple body model: gravitationally bounded, rotating contact binary affected by the tidal force acting from a planet.…

We investigate dynamics of deformable self-propelled particles with a repulsive interaction whose magnitude depends on the relative direction of elongation of a pair of particles. A collective motion of the particles appears in two…

In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…

The collective swimming of soft robots in an infinite viscous fluid is an emergent phenomenon due to the non-reciprocal hydrodynamic interactions between individual swimmers. These physical interactions give rise to unique spatiotemporal…

The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…

We consider the excitation of the inertial modes of a uniformly rotating fully convective body due to a close encounter with another object. This could lead to a tidal capture or orbital circularisation depending on whether the initial…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

Throughout physics, stable composite objects are usually formed via attractive forces, which allow the constituents to lower their energy by binding together. Repulsive forces separate particles in free space. However, in a structured…

Collision is a useful tool for revealing quantum effects and realizing quantum informational tasks. We demonstrate that repeated collisions by itinerant electrons can dissipatively drive two remote spin qubits into an entangled state in a…

We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…

The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…

We present a geometric design rule for size-controlled clustering of self-propelled particles. We show that active particles that tend to rotate under an external force have an intrinsic, signed parameter with units of curvature which we…