Non-contact manipulation is an emerging and highly promising methodology in robotics, offering a wide range of scientific and industrial applications. Among the proposed approaches, airflow stands out for its ability to project across considerable distances and its flexibility in actuating objects of varying materials, sizes, and shapes. However, predicting airflow fields at a distance, as well as the motion of objects within them, remains notoriously challenging due to their nonlinear and stochastic nature. Here, we propose a model-based learning approach using a jet-induced airflow field for remote multi-object manipulation on a surface. Our approach incorporates an analytical model of the field, learned object dynamics, and a model-based controller. The model predicts an air velocity field over an infinite surface for a specified jet orientation, while the object dynamics are learned through a robust system identification algorithm. Using the model-based controller, we can automatically and remotely, at meter-scale distances, control the motion of single and multiple objects for different tasks, such as path-following, aggregating, and sorting.

Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled agents guide free moving agents to a prescribed location to settle in the structure. Agents at the structure formation frontier looking for neighbors to settle act as beacons, generating a surface gradient throughout the formed structure propagated by settled agents. Free-moving agents follow the surface gradient along the formed structure surface to the formation frontier, where they eventually reach the closest beacon and settle to continue the structure formation following a local bidding process. Agent behavior is governed by a finite state machine implementation, along with potential field-based motion control laws. We also discuss appropriate rules for recovering from stagnation points. Simulation experiments are presented to show planar and 3D structure formations with continuous and discontinuous boundary/surfaces, which validate the proposed strategy, followed by a scalability analysis.

Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order representations and may be estimated using a few, appropriately placed measurements. This paper presents a sensor-selection framework for the intended application of data-driven, flow-field estimation. This framework combines data-driven modeling, steady-state Kalman Filter design, and a sparsification technique for sequential selection of sensors. This paper also uses the sensor selection framework to design sensor arrays that can perform well across a variety of operating conditions. Flow estimation results on numerical data show that the proposed framework produces arrays that are highly effective at flow-field estimation for the flow behind and an airfoil at a high angle of attack using embedded pressure sensors. Analysis of the flow fields reveals that paths of impinging stagnation points along the airfoil's surface during a shedding period of the flow are highly informative locations for placement of pressure sensors.