A geometric condition for robot-swarm cohesion and cluster-flock transition
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866918141752246272 |
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| author | Casiulis, Mathias Arbel, Eden van Waes, Charlotte Lahini, Yoav Martiniani, Stefano Oppenheimer, Naomi Zion, Matan Yah Ben |
| author_facet | Casiulis, Mathias Arbel, Eden van Waes, Charlotte Lahini, Yoav Martiniani, Stefano Oppenheimer, Naomi Zion, Matan Yah Ben |
| contents | 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 meta-materials and in embodied decentralized control. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2409_04618 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A geometric condition for robot-swarm cohesion and cluster-flock transition Casiulis, Mathias Arbel, Eden van Waes, Charlotte Lahini, Yoav Martiniani, Stefano Oppenheimer, Naomi Zion, Matan Yah Ben Soft Condensed Matter Materials Science Statistical Mechanics Adaptation and Self-Organizing Systems Applied Physics 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 meta-materials and in embodied decentralized control. |
| title | A geometric condition for robot-swarm cohesion and cluster-flock transition |
| topic | Soft Condensed Matter Materials Science Statistical Mechanics Adaptation and Self-Organizing Systems Applied Physics |
| url | https://arxiv.org/abs/2409.04618 |