arXiv subjects

Naomi Ehrich Leonard

Publications and source records attributed to Naomi Ehrich Leonard.

At least 19 recordsLinked to original sources

arXiv2026

A Continuous-Time and State-Space Relaxation of the Linear Threshold Model with Nonlinear Opinion Dynamics

The Linear Threshold Model (LTM) is widely used to study the propagation of collective behaviors as complex contagions. However, its dependence on discrete states and timesteps restricts its ability to capture the multiple time-scales inherent in decision-making, as well as the effects of subthreshold signaling. To address these limitations, we introduce a continuous-time and state-space relaxation of the LTM based on the Nonlinear Opinion Dynamics (NOD) framework. By replacing the discontinuous step-function thresholds of the LTM with the smooth bifurcations of the NOD model, we map discrete cascade processes to the continuous flow of a dynamical system. We prove that, under appropriate parameter choices, activation in the discrete LTM guarantees activation in the continuous NOD relaxation for any given seed set. We establish computable conditions for equivalence: by sufficiently bounding the social coupling parameter, the continuous NOD cascades exactly recover the cascades of the discrete LTM. We then illustrate how this NOD relaxation provides a richer analytical framework than the LTM, allowing for the exploration of cascades driven by strictly subthreshold inputs and the role of temporally distributed signals.

eess.SY↗

arXiv2026

Spiking control systems for soft robotics: a rhythmic case study in a soft robotic crawler

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, combined with a sensorimotor slow negative feedback loop, generates rhythmic spiking and self-sustained peristaltic locomotion. We analytically characterize the local equilibrium bifurcations induced by the sensorimotor gain and complement this analysis through numerical continuation of periodic orbits. The resulting bifurcation diagram reveals the emergence of qualitatively distinct solutions, including resting and crawling behaviors. For a representative regime with separated mechanical and electrical timescales, Geometric Singular Perturbation Theory reveals the geometry of the relaxation oscillations leading to endogenous crawling. Within this singularly perturbed regime, we formulate and analytically solve an optimization problem, proving that locomotion speed is maximized at mechanical resonance through 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.

eess.SY↗

arXiv2026

Robustness and Centrality in Markov-switching Networks

We investigate how time-varying interactions, modeled via a Markov switching graph (MSG), impact the robustness of noisy multi-agent dynamics in both continuous- and discrete-time settings. Our focus is on the steady-state performance of consensus and leader-follower tracking dynamics subject to stochastic noise. Using the framework of Markov jump linear systems (MJLS), we derive expressions for the steady-state covariance of each agent's deviation from consensus and tracking error, respectively, and use them to quantify individual and group performance as a function of the interaction graphs and the switching dynamics. We extend established notions of robustness, certainty indices, and joint centrality from static graphs to the MSG setting. To gain analytical insight, we specialize our results to systems switching between two topologies and characterize how switching influences performance. Numerical simulations further illustrate how switching topologies affects system robustness in both coordination tasks.

eess.SY↗

arXiv2026

Neuromorphic Realization of Best Response in Finite-Action Games

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.

math.DS↗

arXiv2026

Messaging strategies and the emergence of echo chambers in collective decision-making

Collective decision-making arises from individual agents integrating their own personal observations with information obtained from social partners. In many biological systems that exhibit collective decision-making, the process by which social information is produced, transmitted, and used is subject to two key constraints. First, individuals often do not observe the internal states or personal observations of their neighbors; instead, they observe neighbors' discrete actions. Second, agents often have limited attention, such that, at any given moment, only a subset of social partners influences decisions. Using methods from nonlinear dynamics, we show that either of these constraints can cause collective accuracy to become extremely sensitive to the weight individuals place on the information they receive from others. This sensitivity arises from the spontaneous formation of echo chamber-like states in which individuals receive and transmit homogeneous social messages. Under such conditions, collectives become locked in self-reinforcing states that prevent them from tracking changes in the environment. We reveal the mathematical basis of this phenomenon, and show that it emerges not only in generic models of collective decision-making but also in models developed to describe specific biological systems, including neural circuits, eusocial insect colonies, and mobile animal groups. Finally, we identify biologically plausible mechanisms through which individuals may reduce the risk of echo chamber formation and achieve robust yet sensitive collective decisions without requiring fine-tuning parameters. Our results reveal how fundamental constraints on communication shape the dynamics and reliability of collective decisions across diverse biological systems.

q-bio.QM↗

arXiv2026

A Framework for Exploring Social Interactions in Multiagent Decision-Making for Two-Queue Systems

We introduce a new framework for multiagent decision-making in queueing systems that leverages the agility and robustness of nonlinear opinion dynamics to break indecision during queue selection and to capture the influence of social interactions on collective behavior. Queueing models are central to understanding multiagent behavior in service settings. Many prior models assume that each agent's decision-making process is optimization-based and governed by rational responses to changes in the queueing system. Instead, we introduce an internal opinion state, driven by nonlinear opinion dynamics, that represents the evolving strength of the agent's preference between two available queues. The opinion state is influenced by social interactions, which can modify purely rational responses. We propose a new subclass of queueing models in which each agent's behavioral decisions (e.g., joining or switching queues) are determined by this evolving opinion state. We prove a sufficient parameter condition that guarantees the Markov chain describing the evolving opinion and queueing system states reaches the Nash equilibrium of an underlying congestion game in finite expected time. We then explore the richness of the new framework through numerical simulations that illustrate the role of social interactions and an individual's access to system information in shaping collective behavior.

math.OC↗

arXiv2025

Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports

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.

cs.RO↗

arXiv2025

Sparse dynamic network reconstruction through L1-regularization of a Lyapunov equation

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.

eess.SY↗

arXiv2025

Tunable Thresholds and Frequency Encoding in a Spiking NOD Controller

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.

eess.SY↗

arXiv2025

Think Deep and Fast: Learning Neural Nonlinear Opinion Dynamics from Inverse Dynamic Games for Split-Second Interactions

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.

cs.RO↗

arXiv2025

Opinion-driven risk perception and reaction in SIS epidemics

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.

math.DS↗

arXiv2025

Optimal gait design for nonlinear soft robotic crawlers

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.

eess.SY↗

arXiv2025

Behavior-Inspired Neural Networks for Relational Inference

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.

cs.LG↗

arXiv2025

The Beatbots: A Musician-Informed Multi-Robot Percussion Quartet

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.

cs.RO↗

arXiv2024

Learning with Delayed Payoffs in Population Games using Kullback-Leibler Divergence Regularization

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.

eess.SY↗

arXiv2024

Spiking Nonlinear Opinion Dynamics (S-NOD) for Agile Decision-Making

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.

eess.SY↗

arXiv2024

Spatially-invariant opinion dynamics on the circle

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.

math.AP↗

arXiv2024

Active risk aversion in SIS epidemics on 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.

q-bio.PE↗