相关论文: Smart navigation of a gravity-driven glider with a…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Underwater gliders are widely utilized for ocean sampling, surveillance, and other various oceanic applications. In the context of complex ocean environments, gliders may yield poor navigation performance due to strong ocean currents, thus…

We apply a reinforcement learning algorithm to show how smart particles can learn approximately optimal strategies to navigate in complex flows. In this paper we consider microswimmers in a paradigmatic three-dimensional case given by a…

There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to control their depth and pose. AUVs utilizing thrusters can be…

Swarm navigation in cluttered environments is a grand challenge in robotics. This work combines deep learning with first-principle physics through differentiable simulation to enable autonomous navigation of multiple aerial robots through…

We propose a combined analytical-numerical strategy to predict the dynamics and trajectory of a microswimmer next to a curved spherical obstacle. The microswimmer is actuated by a slip velocity on its surface and a uniformly valid solution…

Synthetic microswimmers show great promise in biomedical applications such as drug delivery and microsurgery. Their locomotion, however, is subject to stringent constraints due to the dominance of viscous over inertial forces at low…

Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…

Marine microorganisms must cope with complex flow patterns and even turbulence as they navigate the ocean. To survive they must avoid predation and find efficient energy sources. A major difficulty in analysing possible survival strategies…

We experimentally and theoretically study the dynamics of a low-Reynolds number helical swimmer moving across viscosity gradients. Experimentally, a double-layer viscosity is generated by superposing two miscible fluids with similar…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

Understanding the complex patterns in space-time exhibited by active systems has been the subject of much interest in recent times. Complementing this forward problem is the inverse problem of controlling active matter. Here we use optimal…

Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

Active particles (living or synthetic) often move through inhomogeneous environments, such as gradients in light, heat or nutrient concentration, that can lead to directed motion (or taxis). Recent research has explored inhomogeneity in the…

The motion of flexible fibers through structured fluidic environments is ubiquitous in nature and industrial applications. Most often, their dynamics results from the complex interplay between internal elastic stresses, contact forces and…

Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…

The hydrodynamic interactions between a sedimenting microswimmer and a solid wall have ubiquitous biological and technological applications. A plethora of gravity-induced swimming dynamics near a planar no-slip wall provides a platform for…

Turbulent flows consist of a wide range of interacting scales. Since the scale range increases as some power of the flow Reynolds number, a faithful simulation of the entire scale range is prohibitively expensive at high Reynolds numbers.…

For decades, people have been seeking for fishlike flapping motions that can realize underwater propulsion with low energy cost. Complexity of the nonstationary flow field around the flapping body makes this problem very difficult. In…