Related papers: Swarming, swirling and stasis in sequestered brist…
Social organisms which construct nests consisting of tunnels and chambers necessarily navigate confined and crowded conditions. Unlike low-density collectives like bird flocks and insect swarms, in which hydrodynamic and statistical…
The self-organised motion of vast numbers of creatures in a single direction is a spectacular example of emergent order. We recreate this phenomenon using actuated non-living components. We report here that millimetre-sized tapered rods,…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation…
The formation and dynamics of swarms is wide spread in living systems, from bacterial bio-films to schools of fish and flocks of birds. We study this emergent collective behavior in a model of active Brownian particles with…
Aggregation is a common behavior by which groups of organisms arrange into cohesive groups. Whether suspended in the air (like honey bee clusters), built on the ground (such as army ant bridges), or immersed in water (such as sludge worm…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Recent empirical observations of three-dimensional bird flocks and human crowds have challenged the long-prevailing assumption that a metric interaction distance rules swarming behaviors. In some cases, individual agents are found to be…
Systems of motile microorganisms exhibit a multitude of collective phenomena, including motility-induced phase separation and turbulence. Sensing of the environment and adaptation of movement plays an essential role in the emergent…
We construct an individual-based kinematic model of rolling migratory locust swarms. The model incorporates social interactions, gravity, wind, and the effect of the impenetrable boundary formed by the ground. We study the model using…
We propose an approach of open-ended evolution via the simulation of swarm dynamics. In nature, swarms possess remarkable properties, which allow many organisms, from swarming bacteria to ants and flocking birds, to form higher-order…
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…
Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
We present a minimal model for autonomous robotic swarms in one- and higher-dimensional spaces, where identical, field-driven agents interact pairwise to self-organize spacing and independently follow local gradients sensed through…
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…
Populations of mobile and communicating agents describe a vast array of technological and natural systems, ranging from sensor networks to animal groups. Here, we investigate how a group-level agreement may emerge in the continuously…
Swarming or collective motion of living entities is one of the most common and spectacular manifestations of living systems having been extensively studied in recent years. A number of general principles have been established. The…
We investigate the emergence of self-organised trails between two specific target areas in collective motion of social organisms by means of an agent-based model. We present numerical evidences that an increase in the efficiency of…