Naomi Ehrich Leonard

We develop a mechanistic dynamical-systems formulation of best response in finite-action games with relational structure on the action set. The proposed neuromorphic decision dynamics realize best response as the stable outcome of an internal state-space process, rather than as an externally imposed choice rule. This provides a deterministic account of commitment formation, symmetry resolution through basins of attraction, and hysteresis and decision persistence under perturbations. For action spaces with circulant coupling, we prove using Lyapunov-Schmidt reduction that the action-coupling operator determines which components of evidence govern decision formation. We further show that the dynamics implicitly compute a geometry-aware utility, converge exponentially to the corresponding best response with rate independent of the number of actions, and switch only when evidence is sufficiently strong. In contrast, supplying the same geometry-aware utility directly to logit dynamics does not recover these properties, showing that relational structure must be embedded in the decision mechanism itself. We illustrate the framework in a repeated coverage game, prove that the induced game is an exact potential game, and show that its Nash equilibria are reached by the neuromorphic dynamics.

We develop a mechanistic dynamical-systems formulation of best response in finite-action games with relational structure on the action set. The proposed neuromorphic decision dynamics realize best response as the stable outcome of an internal state-space process, rather than as an externally imposed choice rule. This provides a deterministic account of commitment formation, symmetry resolution through basins of attraction, and hysteresis and decision persistence under perturbations. For action spaces with circulant coupling, we prove using Lyapunov-Schmidt reduction that the action-coupling operator determines which components of evidence govern decision formation. We further show that the dynamics implicitly compute a geometry-aware utility, converge exponentially to the corresponding best response with rate independent of the number of actions, and switch only when evidence is sufficiently strong. In contrast, supplying the same geometry-aware utility directly to logit dynamics does not recover these properties, showing that relational structure must be embedded in the decision mechanism itself. We illustrate the framework in a repeated coverage game, prove that the induced game is an exact potential game, and show that its Nash equilibria are reached by the neuromorphic dynamics.

Abstract Origami-enabled robots are scalable, compliant, and easy-to-fabricate soft robots. In this study, we investigate the locomotion of an origami-enabled multisegment robot. Such robots offer energetic advantages and enable complex missions by combining several simple robotic segments. This article evaluates the effect of actuation frequency and substrate friction on the straight-line locomotion of the single- and multisegment robots, and their ability to turn. Moreover, we report our evaluation of the multisegment robot’s robustness to failure when one or more segments are disabled. During straight-line locomotion, the one-segment system can crawl with minimal penalties on low-friction substrates. In contrast, the multisegment system, when the distribution of mass is even, is insensitive to both substrate friction and frequency. The turning locomotion results reveal trade-offs between efficiency and maneuverability. Systems with high efficiency during straight-line locomotion have reduced displacement and a high cost of transport (COT), a measure of the energy required for locomotion while turning. When a segment fails during straight-line motion, the robot can continue operating with up to two segments disabled. During turning locomotion, the robot can operate only with one segment disabled, with the penalties to COT and displacement depending on the distribution of functioning segments. Thus, with the ability to crawl effectively on a range of substrates and at varying frequencies, both as a single- and multisegment system, this robot is a viable option for applications where redundancy and modularity are much needed.

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 can rapidly switch between decision options in response to a changing environment. In S-NOD, decisions are represented by discrete opinion spikes that evolve in continuous time. Here, we extend previous analysis of S-NOD and explore its potential as a nonlinear controller with a tunable balance between robustness and responsiveness to input. We identify and provide necessary conditions for the bifurcation that determines the onset of periodic opinion spiking. We leverage this analysis to characterize the tunability of the input-output threshold for opinion spiking as a function of the model basal sensitivity and the tunable dependence of opinion spiking frequency on input magnitude above the threshold. We conclude with a discussion of S-NOD as a new neuromorphic control block and its extension to distributed spiking controllers.

Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop, generates rhythmic spiking. The closed-loop system is robust through the quantized actuation, and negative feedback ensures efficient locomotion with minimal external tuning. Using bifurcation analysis, we characterize how the sensorimotor gain-coupling body and controller dynamics-governs the emergence of qualitatively distinct dynamical regimes, including resting and crawling behaviors associated with peristaltic waves. Dimensional analysis formalizes a separation of mechanical and electrical timescales, and Geometric Singular Perturbation theory explains the geometry of the relaxation oscillations leading to endogenous crawling. Within this singularly perturbed framework, we further formulate and analytically solve an optimization problem, proving that locomotion speed is maximized when mechanical resonance is achieved via a matching of neuromechanical scales. Given the importance and ubiquity of rhythms and waves in soft-bodied locomotion, we envision that spiking control systems could be utilized in a variety of soft-robotic morphologies and modular distributed architectures, yielding significant robustness, adaptability, and energetic gains across scales.

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. In our model, a population dynamically forms an opinion that reflects its willingness to engage in risky behavior (e.g., not wearing a mask in a crowded area) or reduce it (e.g., social distancing). We consider SIS epidemic dynamics in which the contact rate within a population adapts as a function of its opinion. For the new coupled model, we prove the existence of two distinct parameter regimes. One regime corresponds to a low baseline infectiousness, and the equilibria of the epidemic spread are identical to those of the standard SIS model. The other regime corresponds to a high baseline infectiousness, and there is a bistability between two new endemic equilibria that reflect an initial preference towards either risk seeking behavior or risk aversion. We prove that risk seeking behavior increases the steady-state infection level in the population compared to the baseline SIS model, whereas risk aversion decreases it. When a population is highly reactive to extreme opinions, we show how risk aversion enables the complete eradication of infection in the population. Extensions of the model to a network of subpopulations are explored numerically.

We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency.Our HCSF is built on a neural safety value function, which we first learn scalably through black-box interactions and then use at deployment to enforce a novel state-action control barrier function (Q-CBF) safety constraint.Since this Q-CBF safety filter does not require any knowledge of the system dynamics for both synthesis and runtime safety monitoring and intervention, our method applies readily to complex, black-box shared autonomy systems.Notably, our HCSF's CBF-based interventions modify the human's actions minimally and smoothly, avoiding the abrupt, last-moment corrections delivered by many conventional safety filters.We validate our approach in a comprehensive in-person user study using Assetto Corsa-a high-fidelity car racing simulator with black-box dynamics-to assess robustness in "driving on the edge" scenarios.We compare both trajectory data and drivers' perceptions of our HCSF assistance against unassisted driving and a conventional safety filter.Experimental results show that 1) compared to having no assistance, our HCSF improves both safety and user satisfaction without compromising human agency or comfort, and 2) relative to a conventional safety filter, our proposed HCSF boosts human agency, comfort, and satisfaction while maintaining robustness.

Cooperation at scale is critical for achieving a sustainable future for humanity. However, achieving collective, cooperative behavior-in which intelligent actors in complex environments jointly improve their well-being-remains poorly understood. Complex systems science (CSS) provides a rich understanding of collective phenomena, the evolution of cooperation, and the institutions that can sustain both. Yet, much of the theory in this area fails to fully consider individual-level complexity and environmental context-largely for the sake of tractability and because it has not been clear how to do so rigorously. These elements are well captured in multiagent reinforcement learning (MARL), which has recently put focus on cooperative (artificial) intelligence. However, typical MARL simulations can be computationally expensive and challenging to interpret. In this perspective, we propose that bridging CSS and MARL affords new directions forward. Both fields can complement each other in their goals, methods, and scope. MARL offers CSS concrete ways to formalize cognitive processes in dynamic environments. CSS offers MARL improved qualitative insight into emergent collective phenomena. We see this approach as providing the necessary foundations for a proper science of collective, cooperative intelligence. We highlight work that is already heading in this direction and discuss concrete steps for future research.

Multiagent learning is challenging when agents face mixed-motivation interactions, where conflicts of interest arise as agents independently try to optimize their respective outcomes. Recent advancements in evolutionary game theory have identified a class of "zero-determinant" strategies, which confer an agent with significant unilateral control over outcomes in repeated games. Building on these insights, we present a comprehensive generalization of zero-determinant strategies to stochastic games, encompassing dynamic environments. We propose an algorithm that allows an agent to discover strategies enforcing predetermined linear (or approximately linear) payoff relationships. Of particular interest is the relationship in which both payoffs are equal, which serves as a proxy for fairness in symmetric games. We demonstrate that an agent can discover strategies enforcing such relationships through experience alone, without coordinating with an opponent. In finding and using such a strategy, an agent ("enforcer") can incentivize optimal and equitable outcomes, circumventing potential exploitation. In particular, from the opponent's viewpoint, the enforcer transforms a mixed-motivation problem into a cooperative problem, paving the way for more collaboration and fairness in multiagent systems.

Non-cooperative interactions commonly occur in multi-agent scenarios such as car racing, where an ego vehicle can choose to overtake the rival, or stay behind it until a safe overtaking “corridor” opens. While an expert human can do well at making such time-sensitive decisions, autonomous agents are incapable of rapidly reasoning about complex, potentially conflicting options, leading to suboptimal behaviors such as deadlocks. Recently, the nonlinear opinion dynamics (NOD) model has proven to exhibit fast opinion formation and avoidance of decision deadlocks. However, NOD modeling parameters are oftentimes assumed fixed, limiting their applicability in complex and dynamic environments. It remains an open challenge to determine such parameters automatically and adaptively, accounting for the ever-changing environment. In this work, we propose for the first time a learning-based and game-theoretic approach to synthesize a Neural NOD model from expert demonstrations, given as a dataset containing (possibly incomplete) state and action trajectories of interacting agents. We demonstrate Neural NOD's ability to make fast and deadlock-free decisions in a simulated autonomous racing example. We find that Neural NOD consistently outperforms the state-of-the-art data-driven inverse game baseline in terms of safety and overtaking performance.

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 these interactions, agents use their decision-making model to revise their strategy selections based on payoffs determined by an underlying game. Their goal is to learn the strategies that correspond to the Nash equilibrium of the game. However, when games are subject to time delays, conventional decision-making models from the population game literature may result in oscillations in the strategy revision process or convergence to an equilibrium other than the Nash. To address this problem, we propose the Kullback-Leibler Divergence Regularized Learning (KLD-RL) model, along with an algorithm that iteratively updates the model's regularization parameter across a network of communicating agents. Using passivity-based convergence analysis techniques, we show that the KLD-RL model achieves convergence to the Nash equilibrium without oscillations, even for a class of population games that are subject to time delays. We demonstrate our main results numerically on a two-population congestion game and a two-population zero-sum game.

We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safety value function, which we first learn scalably through black-box interactions and then use at deployment to enforce a novel state-action control barrier function (Q-CBF) safety constraint. Since this Q-CBF safety filter does not require any knowledge of the system dynamics for both synthesis and runtime safety monitoring and intervention, our method applies readily to complex, black-box shared autonomy systems. Notably, our HCSF's CBF-based interventions modify the human's actions minimally and smoothly, avoiding the abrupt, last-moment corrections delivered by many conventional safety filters. We validate our approach in a comprehensive in-person user study using Assetto Corsa-a high-fidelity car racing simulator with black-box dynamics-to assess robustness in "driving on the edge" scenarios. We compare both trajectory data and drivers' perceptions of our HCSF assistance against unassisted driving and a conventional safety filter. Experimental results show that 1) compared to having no assistance, our HCSF improves both safety and user satisfaction without compromising human agency or comfort, and 2) relative to a conventional safety filter, our proposed HCSF boosts human agency, comfort, and satisfaction while maintaining robustness.

Artistic creation is often seen as a uniquely human endeavor, yet robots bring distinct advantages to music-making, such as precise tempo control, unpredictable rhythmic complexities, and the ability to coordinate intricate human and robot performances. While many robotic music systems aim to mimic human musicianship, our work emphasizes the unique strengths of robots, resulting in a novel multi-robot performance instrument called the Beatbots, capable of producing music that is challenging for humans to replicate using current methods. The Beatbots were designed using an “informed prototyping“ process, incorporating feedback from three musicians throughout development. We evaluated the Beatbots through a live public performance, surveying participants <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$(N=28)$</tex> to understand how they perceived and interacted with the robotic performance. Results show that participants valued the playfulness of the experience, the aesthetics of the robot system, and the unconventional robot-generated music. Expert musicians and non-expert roboticists demonstrated especially positive mindset shifts during the performance, although participants across all demographics had favorable responses. We propose design principles to guide the development of future robotic music systems and identify key robotic music affordances that our musician consultants considered particularly important for robotic music performance.

In this article, we propose and analyze a nonlinear dynamic model of continuous-time multidimensional belief formation over signed social networks. Our model accounts for the effects of a structured belief system, self-appraisal, internal biases, and various sources of cognitive dissonance posited by recent theories in social psychology. We prove that agents become opinionated as a consequence of a bifurcation. We analyze how the balance of social network effects in the model controls the nature of the bifurcation and, therefore, the belief-forming limit-set solutions. Our analysis provides constructive conditions on how multistable network belief equilibria and belief oscillations emerging at a belief-forming bifurcation depend on the communication network graph and belief system network graph. Our model and analysis provide new theoretical insights on the dynamics of social systems and a new principled framework for designing decentralized decision-making on engineered networks in the presence of structured relationships among alternatives.

Artistic creation is often seen as a uniquely human endeavor, yet robots bring distinct advantages to music-making, such as precise tempo control, unpredictable rhythmic complexities, and the ability to coordinate intricate human and robot performances. While many robotic music systems aim to mimic human musicianship, our work emphasizes the unique strengths of robots, resulting in a novel multi-robot performance instrument called the Beatbots, capable of producing music that is challenging for humans to replicate using current methods. The Beatbots were designed using an ``informed prototyping'' process, incorporating feedback from three musicians throughout development. We evaluated the Beatbots through a live public performance, surveying participants (N=28) to understand how they perceived and interacted with the robotic performance. Results show that participants valued the playfulness of the experience, the aesthetics of the robot system, and the unconventional robot-generated music. Expert musicians and non-expert roboticists demonstrated especially positive mindset shifts during the performance, although participants across all demographics had favorable responses. We propose design principles to guide the development of future robotic music systems and identify key robotic music affordances that our musician consultants considered particularly important for robotic music performance.

An important problem in many areas of science is that of recovering interaction networks from high-dimensional time-series of many interacting dynamical processes. A common approach is to use the elements of the correlation matrix or its inverse as proxies of the interaction strengths, but the reconstructed networks are necessarily undirected. Transfer entropy methods have been proposed to reconstruct directed networks, but the reconstructed network lacks information about interaction strengths. We propose a network reconstruction method that inherits the best of the two approaches by reconstructing a directed weighted network from noisy data under the assumption that the network is sparse and the dynamics are governed by a linear (or weakly-nonlinear) stochastic dynamical system. The two steps of our method are i) constructing an (infinite) family of candidate networks by solving the covariance matrix Lyapunov equation for the state matrix and ii) using $L_{1}$-regularization to select a sparse solution. We further show how to use prior information on the (non)existence of a few directed edges to dramatically improve the quality of the reconstruction.

Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics, including a principled framework for gait design. We analyze the problem of optimal gait design for a soft crawling body - the crawler. The crawler is an elastic body with the control signal defined as actuation forces between segments of the body. We consider the simplest such crawler: a two-segmented body with a passive mechanical connection modeling the viscoelastic body dynamics and a symmetric control force modeling actuation between the two body segments. The model accounts for the nonlinear asymmetric friction with the ground, which together with the symmetric actuation forces enable the crawler's locomotion. Using a describing-function analysis, we show that when the body is forced sinusoidally, the optimal actuator contraction frequency corresponds to the body's natural frequency when operating with only passive dynamics. We then use the framework of Optimal Periodic Control (OPC) to design optimal force cycles of arbitrary waveform and the corresponding crawling gaits. We provide a hill-climbing algorithm to solve the OPC problem numerically. Our proposed methods and results inform the design of optimal forcing and gaits for more complex and multi-segmented crawling soft bodies.

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. In our model, a population dynamically forms an opinion that reflects its willingness to engage in risky behavior (e.g., not wearing a mask in a crowded area) or reduce it (e.g., social distancing). We consider SIS epidemic dynamics in which the contact rate within a population adapts as a function of its opinion. For the new coupled model, we prove the existence of two distinct parameter regimes. One regime corresponds to a low baseline infectiousness, and the equilibria of the epidemic spread are identical to those of the standard SIS model. The other regime corresponds to a high baseline infectiousness, and there is a bistability between two new endemic equilibria that reflect an initial preference towards either risk seeking behavior or risk aversion. We prove that risk seeking behavior increases the steady-state infection level in the population compared to the baseline SIS model, whereas risk aversion decreases it. When a population is highly reactive to extreme opinions, we show how risk aversion enables the complete eradication of infection in the population. Extensions of the model to a network of populations or individuals are explored numerically.

Multi-agent systems in biology, society, and engineering are capable of making decisions through the dynamic interaction of their elements. Nonlinearity of the interactions is key for the speed, robustness, and flexibility of multi-agent decision-making. In this work we introduce modulatory, that is, multiplicative, in contrast to additive, interactions in a nonlinear opinion dynamics model of fast-and-flexible decision-making. The original model is nonlinear because network interactions, although additive, are saturated. Modulatory interactions introduce an extra source of nonlinearity that greatly enriches the model decision-making behavior in a mathematically tractable way. Modulatory interactions are widespread in both biological and social decision-making networks; our model provides new tools to understand the role of these interactions in networked decision-making and to engineer them in artificial systems.

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 decision-making, we develop new theory for opinion formation in response to inputs about options distributed on the circle. Options on the circle can represent, e.g., the possible directions of perceived objects and resulting heading directions in planar robotic navigation problems. Interactions among options are encoded through a spatially invariant kernel, which we design to ensure that only a small (finite) subset of options can be favored over the continuum. We leverage the spatial invariance of the model linearization to design flexible, distributed opinion-forming behaviors using spatiotemporal frequency domain and bifurcation analysis. We illustrate our model's versatility with an application to robotic navigation in crowded spaces.

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 Opinion Dynamics (S-NOD), provides superior agility, characterized by fast, flexible, and adaptive response to rapid and unpredictable changes in context, environment, or information received about available options. S-NOD derives through the introduction of a single extra term to the previously presented Nonlinear Opinion Dynamics (NOD) for fast and flexible multi-agent decision-making behavior. The extra term is inspired by the fast-positive, slow-negative mixed-feedback structure of excitable systems. The agile behaviors brought about by the new excitable nature of decision-making driven by S-NOD are analyzed in a general setting and illustrated in an application to multi-robot navigation around human movers.

We present and analyze an actively controlled SIS (actSIS) model of interconnected populations to study how risk aversion strategies affect network epidemics. A population using a risk aversion strategy reduces its contact rate with other populations when it perceives an increase in infection risk. The network actSIS model relies on two distinct networks. One is a physical network that defines which populations come into contact with which others, thus how infection spreads. The other is a communication network, such as an online social network, that defines which populations observe the infection level of which others, thus how information spreads. We prove that the system exhibits a transcritical bifurcation where an endemic equilibrium (EE) emerges. For regular graphs, we prove that the endemic infection level is uniform across populations and reduced by the risk aversion strategy, relative to the network SIS endemic level. We show that when communication is sufficiently sparse, this initially stable EE loses stability in a secondary bifurcation. Simulations show that a new stable solution emerges with nonuniform infection levels.

We propose a threshold decision-making frame-work for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's preference for a particular task with the physical dynamics of the agent. We prove the bifurcation that governs the behavior of the coupled dynamics. We show by means of the bifurcation behavior how the coupled dynamics are adaptive to the physical constraints of the agent. We also show how the bifurcation can be modulated to allow the agent to switch tasks based on thresholds adaptive to environmental conditions. We illustrate the benefits of the approach through a multi-robot task allocation application for trash collection.

From pedestrians to Kuramoto oscillators, interactions between agents govern how dynamical systems evolve in space and time. Discovering how these agents relate to each other has the potential to improve our understanding of the often complex dynamics that underlie these systems. Recent works learn to categorize relationships between agents based on observations of their physical behavior. These approaches model relationship categories as outcomes of a categorical distribution which is limiting and contrary to real-world systems, where relationship categories often intermingle and interact. In this work, we introduce a level of abstraction between the observable behavior of agents and the latent categories that determine their behavior. To do this, we learn a mapping from agent observations to agent preferences for a set of latent categories. The learned preferences and inter-agent proximity are integrated in a nonlinear opinion dynamics model, which allows us to naturally identify mutually exclusive categories, predict an agent's evolution in time, and control an agent's behavior. Through extensive experiments, we demonstrate the utility of our model for learning interpretable categories, and the efficacy of our model for long-horizon trajectory prediction.

Non-cooperative interactions commonly occur in multi-agent scenarios such as car racing, where an ego vehicle can choose to overtake the rival, or stay behind it until a safe overtaking "corridor" opens. While an expert human can do well at making such time-sensitive decisions, autonomous agents are incapable of rapidly reasoning about complex, potentially conflicting options, leading to suboptimal behaviors such as deadlocks. Recently, the nonlinear opinion dynamics (NOD) model has proven to exhibit fast opinion formation and avoidance of decision deadlocks. However, NOD modeling parameters are oftentimes assumed fixed, limiting their applicability in complex and dynamic environments. It remains an open challenge to determine such parameters automatically and adaptively, accounting for the ever-changing environment. In this work, we propose for the first time a learning-based and game-theoretic approach to synthesize a Neural NOD model from expert demonstrations, given as a dataset containing (possibly incomplete) state and action trajectories of interacting agents. We demonstrate Neural NOD's ability to make fast and deadlock-free decisions in a simulated autonomous racing example. We find that Neural NOD consistently outperforms the state-of-the-art data-driven inverse game baseline in terms of safety and overtaking performance.

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, we design a bistable controller with an electrical flipflop circuit representation capable of generating spikes on-demand when coupled to the passive crawler mechanics. A proprioceptive sensory signal from the crawler mechanics turns bistability of the controller into a rhythmic spiking. The output voltage, in turn, activates the crawler's actuators to generate movement through peristaltic waves. We show through geometric analysis that this control strategy achieves endogenous crawling. The electro-mechanical sensorimotor interconnection provides embodied negative feedback regulation, facilitating locomotion. Dimensional analysis provides insights on the characteristic scales in the crawler's mechanical and electrical dynamics, and how they determine the crawling gait. Adaptive control of the electrical scales to optimally match the mechanical scales can be envisioned to achieve further efficiency, as in homeostatic regulation of neuronal circuits. Our approach can scale up to multiple sensorimotor loops inspired by biological central pattern generators.

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 to use the elements of the correlation matrix or its inverse as proxies of the interaction strengths, but the reconstructed networks are necessarily undirected. Transfer entropy methods have been proposed to reconstruct directed networks but the reconstructed network lacks information about interaction strengths. We propose a network reconstruction method that inherits the best of the two approaches by reconstructing a directed weighted network from noisy data under the assumption that the network is sparse and the dynamics are governed by a linear (or weakly-nonlinear) stochastic dynamical system. The two steps of our method are i) constructing an (infinite) family of candidate networks by solving the covariance matrix Lyapunov equation for the state matrix and ii) using L1-regularization to select a sparse solution. We further show how to use prior information on the (non)existence of a few directed edges to drastically improve the quality of the reconstruction.

Adolescence is a key time to prevent or reduce poor mental health outcomes. Supportive school environments play an important role in this, and the concept of health-promoting schools have been supported globally. Participatory action research (PAR) combines theory, practice, action, and reflection by developing practical solutions to address concerns and issues within communities. Running four PAR groups across three secondary schools, we explored the feasibility of using the approach as a mechanism for bringing about culture change and improving mental health. We undertook interviews and focus groups with students (n = 24), school staff (n = 11), facilitators (n = 3), and parents/carers (n = 2). Findings are organised under five key headings: 1) Establishing PAR groups, and the PAR cycle; 2) PAR group impact; 3) Facilitators of PAR success; 4) Barriers to PAR success; 5) Future recommendations. This study demonstrated the feasibility of PAR as a tool to improve school culture. Students participating in PAR were engaged, passionate, and motivated to influence and transform school culture to improve mental health. Future research should aim to trial the PAR approach on a larger scale, to determine whether the barriers and facilitators of PAR success identified here are relevant and transferable to schools in other contexts, and to measure the impact of such initiatives on mental health outcomes.

As intelligent robots like autonomous vehicles become increasingly deployed in the presence of people, the extent to which these systems should leverage model-based game-theoretic planners versus data-driven policies for safe, interaction-aware motion planning remains an open question. Existing dynamic game formulations assume all agents are task-driven and behave optimally. However, in reality, humans tend to deviate from the decisions prescribed by these models, and their behavior is better approximated under a noisy-rational paradigm. In this work, we investigate a principled methodology to blend a data-driven reference policy with an optimization-based game-theoretic policy. We formulate KLGame, an algorithm for solving non-cooperative dynamic game with Kullback-Leibler (KL) regularization with respect to a general, stochastic, and possibly multi-modal reference policy. Our method incorporates, for each decision maker, a tunable parameter that permits modulation between task-driven and data-driven behaviors. We propose an efficient algorithm for computing multi-modal approximate feedback Nash equilibrium strategies of KLGame in real time. Through a series of simulated and real-world autonomous driving scenarios, we demonstrate that KLGame policies can more effectively incorporate guidance from the reference policy and account for noisily-rational human behaviors versus non-regularized baselines. Website with additional information, videos, and code: https://kl-games.github.io/.

Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics, including a principled framework for gait design. We analyze the problem of optimal gait design for a soft crawling body – the crawler. The crawler is an elastic body with the control signal defined as actuation forces between segments of the body. We consider the simplest such crawler: a two-segmented body with a passive mechanical connection modeling the viscoelastic body dynamics and a symmetric control force modeling actuation between the two body segments. The model accounts for the nonlinear asymmetric friction with the ground, which together with the symmetric actuation forces enable the crawler’s locomotion. Using a describing-function analysis, we show that when the body is forced sinusoidally, the optimal actuator contraction frequency corresponds to the body’s natural frequency when operating with only passive dynamics. We then use the framework of Optimal Periodic Control (OPC) to design optimal force cycles of arbitrary waveform and the corresponding crawling gaits. We provide a hill-climbing algorithm to solve the OPC problem numerically. Our proposed methods and results inform the design of optimal forcing and gaits for more complex and multi-segmented crawling soft bodies.

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 Opinion Dynamics (S-NOD), provides superior agility, characterized by fast, flexible, and adaptive response to rapid and unpredictable changes in context, environment, or information received about available options. S-NOD derives through the introduction of a single extra term to the previously presented Nonlinear Opinion Dynamics (NOD) for fast and flexible multi-agent decision-making behavior. The extra term is inspired by the fast-positive, slow-negative mixed-feedback structure of excitable systems. The agile behaviors brought about by the new excitable nature of decision-making driven by S-NOD are analyzed in a general setting and illustrated in an application to multi-robot navigation around human movers.

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 decision-making, we develop new theory for opinion formation in response to inputs about options distributed on the circle. Options on the circle can represent, e.g., the possible directions of perceived objects and resulting heading directions in planar robotic navigation problems. Interactions among options are encoded through a spatially invariant kernel, which we design to ensure that only a small (finite) subset of options can be favored over the continuum. We leverage the spatial invariance of the model linearization to design flexible, distributed opinion-forming behaviors using spatiotemporal frequency domain and bifurcation analysis. We illustrate our model’s versatility with an application to robotic navigation in crowded spaces.

Multi-agent systems in biology, society, and engineering are capable of making decisions through the dynamic interaction of their elements. Nonlinearity of the interactions is key for the speed, robustness, and flexibility of multi-agent decision-making. In this work we introduce modulatory, that is, multiplicative, in contrast to additive, interactions in a nonlinear opinion dynamics model of fast-and-flexible decision-making. The original model is nonlinear because network interactions, although additive, are saturated. Modulatory interactions introduce an extra source of nonlinearity that greatly enriches the model’s decision-making behavior in a mathematically tractable way. Modulatory interactions are widespread in both biological and social decision-making networks; our model provides new tools to understand the role of these interactions in networked decision-making and to engineer them in artificial systems.

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 used to encode multi-agent interaction, but ambiguity arising from factors such as goal preference or the presence of multiple equilibria may lead to coordination issues, ranging from the “freezing robot” problem to unsafe behavior in safety-critical events. The recently developed nonlinear opinion dynamics (NOD) [1] provide guarantees for breaking deadlocks. However, choosing the appropriate model parameters automatically in general multi-agent settings remains a challenge. In this paper, we first propose a novel and principled procedure for synthesizing NOD based on the value functions of dynamic games conditioned on agents' intents. In particular, we provide for the two-player two-option case precise stability conditions for equilibria of the game-induced NOD based on the mismatch between agents' opinions and their game values. We then propose an optimization-based trajectory optimization algorithm that computes agents' policies guided by the evolution of opinions. The efficacy of our method is illustrated with a simulated toll station coordination example.

A multi-agent system should be capable of fast and flexible decision-making if it is to successfully manage the uncertainty, variability, and dynamic change encountered when operating in the real world. Decision-making is fast if it breaks indecision as quickly as indecision becomes costly. This requires fast divergence away from indecision in addition to fast convergence to a decision. Decision-making is flexible if it adapts to signals important to successful operations, even if they are weak or rare. This requires tunable sensitivity to input for modulating regimes in which the system is ultra-sensitive and in which the system is robust. Nonlinearity and feedback in the multi-agent decision-making dynamics are necessary to meet these requirements. I will present theoretical principles, analytical results, and applications of a general model of decentralized, multi-agent, and multi-option, nonlinear opinion dynamics that enables fast and flexible decision-making. I will explain how the critical features of fast and flexible multi-agent decision-making depend on nonlinearity, feedback, and the structure of the inter-agent communication network and a belief system network. And I will show how the theory and results provide a principled and systematic means for designing and analyzing multi-agent decision-making in systems ranging from multi-robot teams to social networks.

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 dynamics model that represents the evolution of an agent's preference for a particular task with the physical dynamics of the agent. We prove the bifurcation that governs the behavior of the coupled dynamics. We show by means of the bifurcation behavior how the coupled dynamics are adaptive to the physical constraints of the agent. We also show how the bifurcation can be modulated to allow the agent to switch tasks based on thresholds adaptive to environmental conditions. We illustrate the benefits of the approach through a decentralized multi-robot task allocation application for trash collection.

A multiagent system should be capable of fast and flexible decision-making to successfully manage the uncertainty, variability, and dynamic change encountered when operating in the real world. Decision-making is fast if it breaks indecision as quickly as indecision becomes costly. This requires fast divergence away from indecision in addition to fast convergence to a decision. Decision-making is flexible if it adapts to signals important to successful operation, even if they are weak or rare. This requires tunable sensitivity to input for modulating regimes in which the system is ultrasensitive and in which it is robust. Nonlinearity and feedback in the decision-making process are necessary to meeting these requirements. This article reviews theoretical principles, analytical results, related literature, and applications of decentralized nonlinear opinion dynamics that enable fast and flexible decision-making among multiple options for multiagent systems interconnected by communication and belief system networks. The theory and tools provide a principled and systematic means for designing and analyzing decision-making in systems ranging from robot teams to social networks.

We present and analyze an actively controlled Susceptible-Infected-Susceptible (actSIS) model of interconnected populations to study how risk aversion strategies, such as social distancing, affect network epidemics. A population using a risk aversion strategy reduces its contact rate with other populations when it perceives an increase in infection risk. The network actSIS model relies on two distinct networks. One is a physical contact network that defines which populations come into contact with which other populations and thus how infection spreads. The other is a communication network, such as an online social network, that defines which populations observe the infection level of which other populations and thus how information spreads. We prove that the model, with these two networks and populations using risk aversion strategies, exhibits a transcritical bifurcation in which an endemic equilibrium emerges. For regular graphs, we prove that the endemic infection level is uniform across populations and reduced by the risk aversion strategy, relative to the network SIS endemic level. We show that when communication is sufficiently sparse, this initially stable equilibrium loses stability in a secondary bifurcation. Simulations show that a new stable solution emerges with nonuniform infection levels.