113 citations · 144 across the 22 of their papers we have counts for
22 papers
Spiking control systems for soft robotics: a rhythmic case study in a soft robotic crawler
Juncal Arbelaiz, Alessio Franci, Naomi Ehrich Leonard +2
Inspired by spiking neural feedback, we propose a spiking controller to engineer the locomotion of a soft robotic crawler. Its bistability, akin to neural fast positive feedback, c…
Tunable Thresholds and Frequency Encoding in a Spiking NOD Controller
Ian Xul Belaustegui, Alessio Franci, Naomi Ehrich Leonard
Spiking Nonlinear Opinion Dynamics (S-NOD) is an excitable decision-making model inspired by the spiking dynamics of neurons. S-NOD enables the design of agile decision-making that…
Opinion-driven risk perception and reaction in SIS epidemics
Marcela Ordorica Arango, Anastasia Bizyaeva, Simon A. Levin +1
We present and analyze a mathematical model to study the feedback between behavior and epidemic spread in a population that is actively assessing and reacting to risk of infection.…
Spatially-invariant opinion dynamics on the circle
Giovanna Amorim, Anastasia Bizyaeva, Alessio Franci +1
We propose and analyze a nonlinear opinion dynamics model for an agent making decisions about a continuous distribution of options in the presence of input. Inspired by perceptual…
Spiking Nonlinear Opinion Dynamics (S-NOD) for Agile Decision-Making
Charlotte Cathcart, Ian Xul Belaustegui, Alessio Franci +1
We present, analyze, and illustrate a first-of-its-kind model of two-dimensional excitable (spiking) dynamics for decision-making over two options. The model, Spiking Nonlinear Opi…
Excitable crawling
Juncal Arbelaiz, Alessio Franci, Naomi Ehrich Leonard +2
We propose and analyze the suitability of a spiking controller to engineer the locomotion of a soft robotic crawler. Inspired by the FitzHugh-Nagumo model of neural excitability, w…
Sparse dynamic network reconstruction through L1-regularization of a Lyapunov equation
Ian Xul Belaustegui, Marcela Ordorica Arango, Román Rossi-Pool +2
An important problem in many areas of science is that of recovering interaction networks from simultaneous time-series of many interacting dynamical processes. A common approach is…
Threshold Decision-Making Dynamics Adaptive to Physical Constraints and Changing Environment
Giovanna Amorim, María Santos, Shinkyu Park +2
We propose a threshold decision-making framework for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dy…
Active risk aversion in SIS epidemics on networks
Anastasia Bizyaeva, Marcela Ordorica Arango, Yunxiu Zhou +2
We present and analyze an actively controlled Susceptible-Infected-Susceptible (actSIS) model of interconnected populations to study how risk aversion strategies, such as social di…
Multi-topic belief formation through bifurcations over signed social networks
Anastasia Bizyaeva, Alessio Franci, Naomi Ehrich Leonard
We propose and analyze a nonlinear dynamic model of continuous-time multi-dimensional belief formation over signed social networks. Our model accounts for the effects of a structur…
Learning with Delayed Payoffs in Population Games using Kullback-Leibler Divergence Regularization
Shinkyu Park, Naomi Ehrich Leonard
We study a multi-agent decision problem in large population games. Agents from multiple populations select strategies for repeated interactions with one another. At each stage of t…
Emergent Coordination through Game-Induced Nonlinear Opinion Dynamics
Haimin Hu, Kensuke Nakamura, Kai-Chieh Hsu +2
We present a multi-agent decision-making framework for the emergent coordination of autonomous agents whose intents are initially undecided. Dynamic non-cooperative games have been…
Proactive Opinion-Driven Robot Navigation around Human Movers
Charlotte Cathcart, María Santos, Shinkyu Park +1
We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's "opinion" for which way and by how much to pass human move…
Sustained oscillations in multi-topic belief dynamics over signed networks
Anastasia Bizyaeva, Alessio Franci, Naomi Ehrich Leonard
We study the dynamics of belief formation on multiple interconnected topics in networks of agents with a shared belief system. We establish sufficient conditions and necessary cond…
Breaking indecision in multi-agent, multi-option dynamics
Alessio Franci, Martin Golubitsky, Ian Stewart +2
How does a group of agents break indecision when deciding about options with qualities that are hard to distinguish? Biological and artificial multi-agent systems, from honeybees a…
Switching transformations for decentralized control of opinion patterns in signed networks: application to dynamic task allocation
Anastasia Bizyaeva, Giovanna Amorim, Maria Santos +2
We propose a new decentralized design method to control opinion patterns on signed networks of agents making decisions about two options and to switch the network from any opinion…
One More Step Towards Reality: Cooperative Bandits with Imperfect Communication
Udari Madhushani, Abhimanyu Dubey, Naomi Ehrich Leonard +1
The cooperative bandit problem is increasingly becoming relevant due to its applications in large-scale decision-making. However, most research for this problem focuses exclusively…
When to Call Your Neighbor? Strategic Communication in Cooperative Stochastic Bandits
Udari Madhushani, Naomi Leonard
In cooperative bandits, a framework that captures essential features of collective sequential decision making, agents can minimize group regret, and thereby improve performance, by…
Provably Efficient Multi-Agent Reinforcement Learning with Fully Decentralized Communication
Justin Lidard, Udari Madhushani, Naomi Ehrich Leonard
A challenge in reinforcement learning (RL) is minimizing the cost of sampling associated with exploration. Distributed exploration reduces sampling complexity in multi-agent RL (MA…
Tuning Cooperative Behavior in Games with Nonlinear Opinion Dynamics
Shinkyu Park, Anastasia Bizyaeva, Mari Kawakatsu +2
We examine the tuning of cooperative behavior in repeated multi-agent games using an analytically tractable, continuous-time, nonlinear model of opinion dynamics. Each modeled agen…
On Using Hamiltonian Monte Carlo Sampling for Reinforcement Learning Problems in High-dimension
Udari Madhushani, Biswadip Dey, Naomi Ehrich Leonard +1
Value function based reinforcement learning (RL) algorithms, for example, -learning, learn optimal policies from datasets of actions, rewards, and state transitions. However, wh…
Nonlinear Opinion Dynamics with Tunable Sensitivity
Anastasia Bizyaeva, Alessio Franci, Naomi Ehrich Leonard
We propose a continuous-time multi-option nonlinear generalization of classical linear weighted-average opinion dynamics. Nonlinearity is introduced by saturating opinion exchanges…