Publications by Dario Floreano

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The effective reverse engineering of biochemical networks is one of the great challenges of systems biology. The contribution of this paper is two-fold: 1) We introduce a new method for reverse engineering genetic regulatory networks from gene expression d ...

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

One of the challenges of minimally invasive surgery is the dexterous manipulation and precise control of small diameter continuum surgical instruments. In this paper, a magnetic continuum device with variable stiffness (VS) is presented, whose tip can be p ...

Besides being part of the Internet of Things (IoT), drones can play a relevant role in it as enablers. The 3D mobility of UAVs can be exploited to improve node localization in IoT networks for, e.g., search and rescue or goods localization and tracking. On ...

We consider the role of contextual guidance in learning and processing within multi-stream neural networks. Earlier work (Kay & Phillips, 1994, 1996; Phillips et al., 1995) showed how the goals of feature discovery and associative learning could be fused within a single objective, and made precise using information theory, in such a way that local binary processors could extract a single feature that is coherent across streams. In this paper we consider multi-unit local processors with multivariate binary o

We describe a method for the online classification of sleep/wake states based on cardiorespiratory signals produced by wearable sensors. The method was conceived in view of its applicability to a wearable sleepiness monitoring device. The method uses a Fas ...

Typical deflection sensors like strain gauges or devices based on optical fibers require physical contact with the deflected substrate during the measurement process. Such contact, however, impacts on the softness of the substrate and may falsify the measu ...

Environments with varying reward contingencies constitute a challenge to many living creatures. In such conditions, animals capable of adaptation and learning derive an advantage. Recent studies suggest that neuromodulatory dynamics are a key factor in reg ...

Information transfer plays a central role in the biology of most organisms, particularly social species [1, 2]. Although the neurophysiological processes by which signals are produced, conducted, perceived, and interpreted are well understood, the conditio ...

This paper reports experimental results on self-organizing wireless networks carried by small flying robots. Flying ad hoc networks (FANETs) composed of small unmanned aerial vehicles (UAVs) are flexible, inexpensive and fast to deploy. This makes them a v ...

Morphology plays an important role in behavioral and locomotion strategies of living and artificial systems. There is biological evidence that adaptive morphological changes can not only extend dynamic performances by reducing tradeoffs during locomotion b ...

Deployment of multiple flying robots has attracted the interest of several research groups in the recent times both because such a feat represents many interesting scientific challenges and because aerial collective systems have a huge potential in terms of applications. By working together, multiple robots can perform a given task quicker or more efficiently than a single system. Furthermore, multiple robots can share computing, sensing and communication payloads thus leading to lighter robots that could b

In cooperative multiagent systems, agents interact to solve tasks. Global dynamics of multiagent teams result from local agent interactions, and are complex and difficult to predict. Evolutionary computation has proven a promising approach to the design of ...

Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to use. ...

Many environments where robots are expected to operate are cluttered with objects, walls, debris, and different horizontal and vertical structures. In this chapter, we present four design features that allow small robots to rapidly and safely move in 3 dimensions through cluttered environments: a perceptual system capable of detecting obstacles in the robot’s surroundings, including the ground, with minimal computation, mass, and energy requirements; a flexible and protective framework capable of withstandi

We show that complex visual tasks, such as position- and size-invariant shape recognition and navigation in the environment, can be tackled with simple architectures generated by a coevolutionary process of active vision and feature selection. Behavioral m ...

Energy production and storage represent challenges for biodegradable and edible technologies. Here, this study describes an edible energy storage and valve system designed to power pneumatically driven edible robots. The edible pneumatic battery exploits the acid‐base neutralization reaction of food‐grade reactants: under gravity, citric acid mixes with sodium bicarbonate powder to produce a steady release of carbon dioxide (CO 2 ) gas. The generated gas pressure causes deformation of a connected edible pne

Morphology plays an important role in the computational properties of neural systems, affecting both their functionality and the way in which this functionality is developed during life. In computer-based models of neural networks, artificial evolution is often used as a method to explore the space of suitable morphologies. In this paper we critically review the most common methods used to evolve neural morphologies and argue that a more effective, and possibly biologically plausible, method consists of gen

Science instructors from a wide range of disciplines agree that hands-on laboratory components of courses are pedagogically necessary (Freedman, 1997). However, certain shortcomings of current laboratory exercises have been pointed out by several authors ( ...

Many invertebrates are ideal model systems on which to base robot design principles due to their success in solving seemingly complex tasks across domains while possessing smaller nervous systems than vertebrates. Three areas are particularly relevant for ...

Dario Floreano

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Bio-mimetic Evolutionary Reverse Engineering of Genetic Regulatory Networks

Training Efficient Controllers via Analytic Policy Gradient

A Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery

Drone-aided Localization in LoRa IoT Networks

Contextually Guided Unsupervised Learning Using Local Multivariate Binary Processors

Sleep and Wake Classification With ECG and Respiratory Effort Signals

Contactless deflection sensing of concave and convex shapes assisted by soft mirrors

Evolving Neuromodulatory Topologies for Reinforcement Learning-like Problems

Evolutionary Conditions for the Emergence of Communication in Robots

Dynamic Routing for Flying Ad Hoc Networks

Adaptive Morphology: A Design Principle for Multimodal and Multifunctional Robots

Aerial collective systems

Genetic Team Composition and Level of Selection in the Evolution of Cooperation

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

Aerial Locomotion in Cluttered Environments

Coevolution of active vision and feature selection

Edible Pneumatic Battery for Sustained and Repeated Robot Actuation

Neural Morphogenesis, Synaptic Plasticity, and Evolution

RoboGen: Robot Generation through Artificial Evolution

A virtuous cycle between invertebrate and robotics research: perspective on a decade of Living Machines research