ArticleProceedings of the National Academy of Sciences of the United States of America2025
A geometric condition for robot-swarm cohesion and cluster-flock transition.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Hydrodynamic spin-pairing and active polymerization of oppositely spinning rotors.Nature communications · 2025Article
- A mechanical route for cooperative transport in autonomous robotic swarms.Nature communications · 2025Article
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Authors and funding
7 authors.
Funding
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.
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Registered trials
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