A geometric condition for robot-swarm cohesion and cluster–flock transition
Abstract
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 call curvity, that can be derived from first principles. Experiments with robots and numerical simulations show that properties of individual robots (radius and curvity) control pair cohesion in a binary system, and the stability of flocking and self-limiting clustering in a swarm, with applications in metamaterials and in embodied decentralized control.
Article Details
Journal Info
Proceedings of the National Academy of Sciences
National Academy of Sciences
Authors (7)
Mathias Casiulis
Center for Soft Matter Research, Department of Physics, New York University
Eden Arbel
Department of Condensed Matter Physics, School of Physics and Astronomy, Center for Physics, Chemistry of Living Systems, Tel Aviv University
Charlotte van Waes
Department of Artificial Intelligence, Donders Center for Cognition, Radboud University
Yoav Lahini
Department of Condensed Matter Physics, School of Physics and Astronomy, Center for Physics, Chemistry of Living Systems, Tel Aviv University
Stefano Martiniani
Center for Soft Matter Research, Department of Physics, New York University
Naomi Oppenheimer
Department of Condensed Matter Physics, School of Physics and Astronomy, Center for Physics, Chemistry of Living Systems, Tel Aviv University
Matan Yah Ben Zion
Department of Artificial Intelligence, Donders Center for Cognition, Radboud University