相关论文: Smart navigation of a gravity-driven glider with a…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Reinforcement learning (RL) has shown promise in solving various combinatorial optimization problems. However, conventional RL faces challenges when dealing with complex, real-world constraints, especially when action space feasibility is…
Contrasting the well explored problem on how to steer a macroscopic agent like an airplane or a moon lander to optimally reach a target, "optimal microswimming", i.e. the quest for the optimal navigation strategy for microswimmers, remains…
Angular momentum of spinning bodies leads to their remarkable interactions with fields, waves, fluids, and solids. Orbiting celestial bodies, balls in sports, liquid droplets above a hot plate, nanoparticles in optical fields, and spinning…
The case of a rotating object traveling through viscous fluid appears in many phenomena like the banana ball and missile movement. In this work, we build a model to predict the trajectory of such rotating objects with near-cylinder…
How much work does it cost for a propelled particle to stay localised near a stationary target, defying both thermal noise and a constant flow that would carry it away? We study the control of such a particle in finite time and find optimal…
Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…
Swimming microrobots are increasingly developed with complex materials and dynamic shapes and are expected to operate in complex environments in which the system dynamics are difficult to model and positional control of the microrobot is…
Conventionally, a microscopic particle that performs a reciprocal stroke cannot move through its environment. This is because at small scales, the response of simple Newtonian fluids is purely viscous and flows are time-reversible. We show…
We perform hydrodynamic simulations using the method of multi-particle collision dynamics and a theoretical analysis to study a single squirmer microswimmer at high P\'eclet number, which moves in a low Reynolds number fluid and under…
Commonplace in oceanography is the collection of ocean drifter positions. Ocean drifters are devices that sit on the surface of the ocean and move with the flow, transmitting their position via GPS to stations on land. Using drifter data,…
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed geometric navigation systems with decades of empirical…
We investigate the relationship between the effective diffusivity and effective drift of a particle moving in a random medium. The velocity of the particle combines a white noise diffusion process with a local drift term that depends…
Homing and navigation are fundamental behaviors in biological systems that enable agents to reliably reach a target under uncertainty. We present a Reinforcement Learning (RL) framework to model adaptive homing in continuous two-dimensional…
The transport of deformable particles through porous media underlies a wealth of applications ranging from filtration to oil recovery to the transport and spreading of biological agents. Using direct numerical simulations, we analyze the…
The present work investigates the mechanical behaviour of finite-size, elastic and inertial fibres freely moving in a homogeneous and isotropic turbulent flow at moderate Reynolds number. Fully-resolved, direct numerical simulations, based…
Seated VR locomotion in constrained environments, including homes, offices, and transit settings, calls for hardware that is lightweight and deployable, steering that remains continuous enough for curved motion, and a control channel that…
In this work a simple problem on 2D optimal shape for body immersed in a viscous flow is analyzed. The body has geometrical constraints and its profile would be found in the class of cubics which satisfy those conditions. The optimal…
We want to build robots that are useful in unstructured real world applications, such as doing work in the household. Grasping in particular is an important skill in this domain, yet it remains a challenge. One of the key hurdles is…
We compute the hydrodynamic torque on a dumbbell (two spheres linked by a massless rigid rod) settling in a quiescent fluid at small but finite Reynolds number. The spheres have the same mass densities but different sizes. When the sizes…