December 13, 2023

ep18 - Naomi Ehrich Leonard, Part I: Geometric Control on Lie Groups, Underwater Vehicles and Collective Motion, Coordination in Animal Groups, Decision Making in Honeybees and Bifurcation Theory

1 hour 7 minutes

Outline
00:00 - Intro
01:05 - Dancing and control theory
03:31 - Geometric control on Lie groups
09:14 - Underwater vehicles and geometric mechanics
18:45 - On the Hamiltonian framework
21:25 - Underwater field experiments in Monte Rey Bay
36:27 - Collective motion and coordination in animal groups
54:40 - Honeybees and bifurcation theory
1:03:36 - Outro

Links
Naomi’s website: http://tinyurl.com/j755aww5
Naomi’s PhD Thesis: http://tinyurl.com/ywkvvy7k
Lie group: http://tinyurl.com/2p83jw9s
Averaging: http://tinyurl.com/df9kmmcw
Stability of underwater vehicles: http://tinyurl.com/yxxytufx
J. Marsden: http://tinyurl.com/zvm8kktt
A. Block: http://tinyurl.com/6wc39zkd
Center of buoyancy: http://tinyurl.com/mszncamh
Controlled Lagrangians: http://tinyurl.com/22usb52e - http://tinyurl.com/ymmntvr8
Casimir function: http://tinyurl.com/yckc99mk
Monterey Bay field experiments: http://tinyurl.com/yc24adct - http://tinyurl.com/3sd7ee39 - http://tinyurl.com/ywryjwvr
Collective motion: http://tinyurl.com/yuna5pam - http://tinyurl.com/pau74hmc - http://tinyurl.com/4p7zd5sz
Spatial patterns in coordinated groups: http://tinyurl.com/45y7hc9v- http://tinyurl.com/5n7rm6vf
Kuramoto model: http://tinyurl.com/5eshfxha
Decision making in animal groups: http://tinyurl.com/3ybne8hn - http://tinyurl.com/283yts4y
Value-Sensitive Decision-Making in honeybees: http://tinyurl.com/2uhcwyy6
Bifurcation: http://tinyurl.com/tfr3ks7a
Singularity theory: http://tinyurl.com/4

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Acknowledgments and sponsors
This episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.