Boundaries Control Collective Dynamics of Inertial Self-Propelled Robots - Archive ouverte HAL Access content directly
Journal Articles Physical Review Letters Year : 2018

Boundaries Control Collective Dynamics of Inertial Self-Propelled Robots

Abstract

Simple ingredients, such as well-defined interactions and couplings for the velocity and orientation of self-propelled objects, are sufficient to produce complex collective behavior in assemblies of such entities. Here, we use assemblies of rodlike robots made motile through self-vibration. When confined in circular arenas, dilute assemblies of these rods act as a gas. Increasing the surface fraction leads to a collective behavior near the boundaries: polar clusters emerge while, in the bulk, gaslike behavior is retained. The coexistence between a gas and surface clusters is a direct consequence of inertial effects as shown by our simulations. A theoretical model, based on surface mediated transport accounts for this coexistence and illustrates the exact role of the boundaries. Our study paves the way towards the control of collective behavior: By using deformable but free to move arenas, we demonstrate that the surface induced clusters can lead to directed motion, while the topology of the surface states can be controlled by biasing the motility of the particles.
Fichier principal
Vignette du fichier
supplementary-material-boundaries_3_.pdf (2.76 Mo) Télécharger le fichier
2018 - Boundaries Control Collective Dynamics of Inertial Self-Propelled Robots.pdf (697.63 Ko) Télécharger le fichier
Suppmovie1.mp4 (2.68 Mo) Télécharger le fichier
Suppmovie2.mp4 (7.5 Mo) Télécharger le fichier
Suppmovie3.mp4 (2.57 Mo) Télécharger le fichier
Suppmovie4.mp4 (4.16 Mo) Télécharger le fichier
Suppmovie5.mp4 (1.1 Mo) Télécharger le fichier
Suppmovie6A.mp4 (1.22 Mo) Télécharger le fichier
Suppmovie6B.mp4 (1.3 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01792275 , version 1 (15-05-2018)

Licence

Attribution - NonCommercial - ShareAlike

Identifiers

Cite

Antoine Deblais, Thomas Barois, T. Guérin, Pierre-Henri H Delville, Rémi Vaudaine, et al.. Boundaries Control Collective Dynamics of Inertial Self-Propelled Robots. Physical Review Letters, 2018, 120 (18), pp.188002 (1-5). ⟨10.1103/PhysRevLett.120.188002⟩. ⟨hal-01792275⟩
312 View
479 Download

Altmetric

Share

Gmail Facebook X LinkedIn More