Related papers: A geometric condition for robot-swarm cohesion and…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
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…
Motivated by the idea of using simple macroscopic examples to illustrate the physics of complex systems, we modify a historic experimental setup in which interacting floating magnets spontaneously self-assemble into ordered clusters. By…
We investigate the steady-state organisation of active particles residing on an interface. Particle activity induces interface deformations, while the local shape of the interface guides particle movement. We consider multiple species of…
Many structural properties of conventional passive materials are known to arise from the symmetries of their microscopic constituents. By contrast, it is largely unclear how the interplay between cell shape and self-propulsion controls the…
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…
We investigate dynamics of deformable self-propelled particles with a repulsive interaction whose magnitude depends on the relative direction of elongation of a pair of particles. A collective motion of the particles appears in two…
We study the behaviour of interacting self-propelled particles, whose self-propulsion speed decreases with their local density. By combining direct simulations of the microscopic model with an analysis of the hydrodynamic equations obtained…
The collective ability of organisms to move coherently in space and time is ubiquitous in any group of autonomous agents that can move and sense each other and the environment. Here we investigate the origin of collective motion and its…
One standard approach to describe the collective behaviour of self-propelled particles is the Vicsek model: point-like self-propelled particles tend to align their migration directions to the ones of their nearer neighbours at each…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
The clogging behavior of a symmetric binary mixture of particles that are driven in opposite directions through constrictions is explored by Brownian dynamics simulations and theory. A dynamical state with a spontaneously broken symmetry…
We undertake a systematic numerical exploration of self-organized states in a deterministic model of interacting self-propelled particles in two dimensions. In the process, we identify various types of collective motion, namely, disordered…
A theory of self-propelled particles is developed in two dimensions assuming that the particles can be deformed from a circular shape when the propagating velocity is increased. A coupled set of equations in terms of the velocity and a…
We study dynamic self-organisation and order-disorder transitions in a two-dimensional system of self-propelled particles. Our model is a variation of the Vicsek model, where particles align the motion to their neighbours but repel each…
This paper presents a unified mathematical theory of swarms where the dynamics of social behaviors interacts with the mechanical dynamics of self-propelled particles. The term behavioral swarms is introduced to characterize the specific…
As a rough model for the collective motions of cells and organisms we develop here the statistical mechanics of swarms of self-propelled particles. Our approach is closely related to the recently developed theory of active Brownian motion…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
We numerically studied active Brownian particles with attractive interactions. Contrary to our intuition, the attractive force between particles disrupts the formation of a single cluster observed in motility-induced phase separation,…
We study self-organisation of collective motion as a thermodynamic phenomenon, in the context of the first law of thermodynamics. It is expected that the coherent ordered motion typically self-organises in the presence of changes in the…