9 accepted papers
We realize 3D robotic swarmalators that reconfigure, navigate, and avoid obstacles with formal safety on Crazyflie drones. We incorporate ellipsoidal Control Barrier Functions to avoid downwash turbulence between drones, and a combination of Control Lyapunov Function and Control Barrier Function met…
Swarmalator studies have enabled self-organized collective behaviors that emerge from dual spatial and temporal coupling, without relying on external inputs. These behaviors arise solely from attractive and repulsive interactions modulated by a few global parameters. Here, we treat the swarmalator m
Swarmalator studies have enabled self-organized collective behaviors that emerge from dual spatial and temporal coupling, without relying on external inputs. These behaviors arise solely from attractive and repulsive interactions modulated by a few global parameters. Here, we treat the swarmalator m…
We introduce a platform of oscillating eel-like robots that exploits physical collisions to enable controllable collective behaviors. Each robot is actuated by a Kuramoto-style central pattern generator, and produces undulatory motion that passively synchronizes through collisions with neighboring r
Swarmalators move as a function of their pairwise phase interactions, and control their phase as a function of their relative position or motion to other agents. This enables dual sync and swarm behaviors that mimic those exhibited by diverse natural and artificial swarms; these behaviors have almos
Natural and robotic swarms often exhibit nonreciprocal interactions; agents do not exhibit equal and opposite forces on each other. By studying the effects of reciprocal and non-reciprocal interactions we are better able to design emergent behaviors in robot collectives composed of agents that exert…
Many modular robots and active matter platforms are inspired by natural aggregates of single-celled organisms that exhibit complex emergent behaviors far beyond the capability and range of individuals. These behaviors stem primarily from short range chemical and mechanical interactions. Past work ha
Shape reconstruction by soft sensors may be useful in applications ranging from precision agriculture to haptics and factory automation due to the potential for low-cost fabrication, durable operation, and safe and compliant interaction. Current prevalent techniques, however, require expertise, expe
Popcorn kernels are a natural, edible, and inexpensive material that has the potential to rapidly expand with high force upon application of heat. Although this transition is irreversible, it carries potential for several robotic applications. Here, we examine relevant characteristics of three types…