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Active matter physics and swarm robotics have provided powerful tools for the study and control of ensembles driven by internal sources. At the macroscale, controlling swarms typically utilizes significant memory, processing power, and…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
Humans are bounded rational at best and this, we argue, has worked in their favour in the hunter-gatherer society where emergence of a coordinated action, leading to cooperation, is otherwise the standard stag-hunt dilemma (when individuals…
Swarming is a conspicuous behavioural trait observed in bird flocks, fish shoals, insect swarms and mammal herds. It is thought to improve collective awareness and offer protection from predators. Many current models involve the hypothesis…
Many marine invertebrates have larval stages covered in linear arrays of beating cilia, which propel the animal while simultaneously entraining planktonic prey. These bands are strongly conserved across taxa spanning four major superphyla,…
Despite their vast morphological diversity, many invertebrates have similar larval forms characterized by ciliary bands, innervated arrays of beating cilia that facilitate swimming and feeding. Hydrodynamics suggests that these bands should…
Small Uncrewed Aerial Systems (sUAS) are increasingly deployed as autonomous swarms in search-and-rescue and other disaster-response scenarios. In these settings, they use computer vision (CV) to detect objects of interest and autonomously…
Having the ability to infer characteristics of autonomous agents would profoundly revolutionize defense, security, and civil applications. Our previous work was the first to demonstrate that supervised neural network time series…
Bacteria in biofilms form complex structures and can collectively migrate within mobile aggregates, which is referred to as swarming. This behavior is influenced by a combination of various factors, including morphological characteristics…
We present a geometric design rule for size-controlled clustering of self-propelled particles. We show that active particles that tend to rotate under an external force have an intrinsic, signed parameter with units of curvature which we…
The colonisation of a soft passive material by motile cells such as bacteria is common in biology. The resulting colonies of the invading cells are often observed to exhibit intricate patterns whose morphology and dynamics can depend on a…
Dynamical emergent patterns of swarms are now fairly well established in nature, and include flocking and rotational states. Recently, there has been great interest in engineering and physics to create artificial self-propelled agents that…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
Systems of self-propelled particles are known for their tendency to aggregate and to display swarm behavior. We investigate two model systems, self-propelled rods interacting via volume exclusion, and sinusoidally-beating flagella embedded…
We study the linear stability of flock and mill ring solutions of two individual based models for biological swarming. The individuals interact via a nonlocal interaction potential that is repulsive in the short range and attractive in the…
Structure and ordering in swarms of active particles have much in common with condensed matter systems like magnets or liquid crystals. A number of important characteristics of such materials can be obtained via dynamic tests such as…
Collective motion is commonly modeled with simple interaction rules between agents. Yet in nature, numerous observables vary within and between individuals and it remains largely unknown how animals respond to this variability, and how much…
The swarm intelligence of animals is a natural paradigm to apply to optimization problems. Ant colony, bee colony, firefly and bat algorithms are amongst those that have been demonstrated to efficiently to optimize complex constraints. This…
Previous work has suggested that disordered swarms of flying insects can be well modeled as self-gravitating systems, as long as the "gravitational" interaction is adaptive. Motivated by this work we compare the predictions of the classic,…