Related papers: A geometric condition for robot-swarm cohesion and…

Biological and robotic systems often operate in confined environments where material must be gathered without centralized control. Inspired by the effective collection strategies of aquatic worms (Lumbriculus variegatus and Tubifex…

With the use of the general variational principle of self-organization of systems with varying constraints, namely the principle of dynamical harmonization of systems presented in the first work of the cycle, we advance an approach to the…

This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…

We investigate a discrete model consisting of self-propelled particles that obey simple interaction rules. We show that this model can self-organize and exhibit coherent localized solutions in one- and in two-dimensions.In one-dimension,…

We introduce a simple model of active transport for an ensemble of particles driven by an external shear flow. Active refers to the fact that the flow of the particles is modified by the distribution of particles itself. The model consists…

Active matter composed of self-propelled particles features fascinating self-organization phenomena, spanning from motility-induced phase separation to phototaxis to topological excitations depending on the nature and parameters of the…

In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…

Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of…

Self-diffusiophoretic particles exploit local concentration gradients of a solute species in order to self-propel at the micron scale. While an isolated chemically- and geometrically-isotropic particle cannot swim, we show that it can…

A mixture of particles with perception-dependent motility and opposite misaligned visual perception shows to spontaneously self-organize into a self-propelling bean-shaped cluster. The two species initially rotate in opposite directions,…

We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…

This paper presents a new method of constructing physical models in a geophysical inverse problem, when there are only a few possible physical property values in the model and they are reasonably known but the geometry of the target is…

Swarm robots, inspired by the emergence of animal herds, are robots that assemble a large number of modules and self-organize themselves to form specific morphologies and exhibit specific functions. These modular robots perform relatively…

Collections of simple, self-propelled colloidal particles exhibit complex, emergent dynamical behavior, with promising applications in microrobotics. When confined within a deformable vesicle, self-propelled rods cluster and align,…

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 experimentally, numerically and analytically, the dynamics of a chiral active particle (cm-sized robots), pulled at a constant translational velocity. We show that the system can be mapped to a Brownian particle driven across a…

Controlling the phases of matter is a challenge that spans from condensed materials to biological systems. Here, by imposing a geometric boundary condition, we study controlled collective motion of Escherichia coli bacteria. A circular…

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…

Self-propelled point-like particles move along circular trajectories when their translocation velocity is constant and the angular velocity related to their orientation vector is also constant. We investigate the collective behavior of…

Particle Swam Optimization is a population-based and gradient-free optimization method developed by mimicking social behaviour observed in nature. Its ability to optimize is not specifically implemented but emerges in the global level from…