Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Collective control of modular soft robots via embodied Spiking Neural
  Cellular Automata   Voxel-based Soft Robots (VSRs) are a form of modular soft robots, composed of
several deformable cubes, i.e., voxels. Each VSR is thus an ensemble of simple
agents, namely the voxels, which must cooperate to give rise to the overall VSR
behavior. Within this paradigm, collective intelligence plays a key role in
enabling the emerge of coordination, as each voxel is independently controlled,
exploiting only the local sensory information together with some knowledge
passed from its direct neighbors (distributed or collective control). In this
work, we propose a novel form of collective control, influenced by Neural
Cellular Automata (NCA) and based on the bio-inspired Spiking Neural Networks:
the embodied Spiking NCA (SNCA). We experiment with different variants of SNCA,
and find them to be competitive with the state-of-the-art distributed
controllers for the task of locomotion. In addition, our findings show
significant improvement with respect to the baseline in terms of adaptability
to unforeseen environmental changes, which could be a determining factor for
physical practicability of VSRs.

22
The categories of this paper are: chao-dyn
13
The categories of this paper are: quant-ph
18
The categories of this paper are: econ
36
The categories of this paper are: cmp-lg
8
The categories of this paper are: hep-ex
32
The categories of this paper are: atom-ph
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
20
The categories of this paper are: acc-phys
4
The categories of this paper are: cond-mat
24
The categories of this paper are: dg-ga
2
The categories of this paper are: math
6
The categories of this paper are: astro-ph
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an