@article{ce05aa9c0a0b49d9b0954d472e68ba3c,
title = "Model-Based Feedback Control of Live Zebrafish Behavior via Interaction with a Robotic Replica",
abstract = "The possibility of regulating the behavior of live animals using biologically-inspired robots has attracted the interest of biologists and engineers for over 25 years. From early work on insects to recent endeavors on mammals, we have witnessed fascinating applications that have pushed forward our understanding of animal behavior along new directions. Despite significant progress, most of the research has focused on open-loop control systems, in which robots execute predetermined actions, independent of the animal behavior. In this article, we integrate mathematical modeling of social behavior toward the design of realistic feedback laws for robots to interact with a live animal. In particular, we leverage recent advancements in data-driven modeling of zebrafish behavior. Ultimately, we establish a novel robotic platform that allows real-time actuation of a biologically-inspired three-dimensionally printed zebrafish replica to implement model-based control of animal behavior. We demonstrate our approach through a series of experiments, designed to elucidate the appraisal of the replica by live subjects with respect to conspecifics and to quantify the biological value of closed-loop control.",
keywords = "Animal-robot, collective behavior, ethorobotics, stochastic differential equations, swimming",
author = "{De Lellis}, Pietro and Edoardo Cadolini and Arrigo Croce and Yanpeng Yang and {Di Bernardo}, Mario and Maurizio Porfiri",
note = "Funding Information: Manuscript received June 15, 2019; accepted September 12, 2019. Date of publication October 23, 2019; date of current version February 4, 2020. This work was supported in part by the National Institutes of Health (National Institute on Drug Abuse under Grant 1R21DA042558-01A1 and the Office of Behavioral and Social Sciences Research) and in part by the National Science Foundation (Grant CMMI-1433670 and Grant CMMI-1505832). The work of P. De Lellis was supported in part by the University of Naples Federico II under the program “Programma per la mobilit{\`a} di breve durata,” and in part by the Compagnia di San Paolo, Istituto Banco di Napoli – Fondazione for supporting Grant STAR 2018, project ACROSS. The work of E. Cadolini and A. Croce was supported by University of Naples Federico II and Compagnia di San Paolo under the programme “Saperi Senza Frontiere” of the University of Naples Federico II. This article was recommended for publication by Associate Editor S. Bergbreiter and Editor I.-M. Chen upon evaluation of the reviewers{\textquoteright} comments. (Corresponding authors: Mario di Bernardo; Maurizio Porfiri.) P. De Lellis, E. Cadolini, and A. Croce are with the Department of Electrical Electrical Engineering and Information Technology, University of Naples Federico II, 80125 Naples, Italy, and also with the Department of Mechanical and Aerospace Engineering, New York University Tandon School of Engineering, Brooklyn, NY 11201 USA (e-mail: pietro.delellis@unina.it; e.cadolini@ studenti.unina.it; ar.croce@studenti.unina.it).",
year = "2020",
month = feb,
doi = "10.1109/TRO.2019.2943066",
language = "English (US)",
volume = "36",
pages = "28--41",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "1",
}