10 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…
Singular networks and ultrasensitive terminal behaviors
Alessio Franci, Bart Besselink, Arjan van der Schaft
Negative conductance elements are key to shape the input-output behavior at the terminals of a network through localized positive feedback amplification. The balance of positive an…
Bifurcation analysis of an opinion dynamics model coupled with an environmental dynamics
Anthony Couthures, Anastasia Bizyaeva, Vineeth S. Varma +2
We consider an opinion dynamics model coupled with an environmental dynamics. Based on a forward invariance argument, we can simplify the analysis of the asymptotic behavior to the…
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…
Directional excitability in Hilbert spaces
Gustave Bainier, Alessio Franci
We introduce a generalized excitable system in which spikes can happen in a continuum of directions, therefore drastically enriching the expressivity and control capability of the…
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…