Whether walking, running, slithering, or flying, organisms display a remarkable ability to
move through complex and uncertain environments. In particular, animals have evolved to …

Trade-offs between producing costly movements for gathering information ('explore') and
using previously acquired information to achieve a goal ('exploit') arise in a wide variety of …

To execute sensory-guided behavior, the nervous system must manage uncertainty within
multiple streams of information. There are two highly nonlinear mechanisms for achieving …

Movement and sensing are linked in organisms as their sensors are embedded in their
bodies. This inescapable link results in a behavioral conflict between producing costly …

We consider a general class of translation-invariant systems with a specific category of
output nonlinearities motivated by biological sensing. We show that no dynamic output …

In this thesis, we tackle challenges in the localization of multi-robot systems, focusing on
cooperative localization in non-infinitesimally rigid formations with sensing constraints. Our …