移动微型机器人群体的凝聚自组织
Cohesive self-organization of mobile microrobotic swarms
摘要：
移动微型机器人被认为是有用的，在广泛的高影响力的应用，其中许多需要凝聚力的群体形成，以保持自我约束的群集在没有限制的边界。内聚基团的形成依赖于试剂之间吸引和排斥相互作用之间的平衡。我们发现，自组装颗粒链微型机器人之间的磁偶极吸引力和多极排斥力的平衡使它们能够自组织成有凝聚力的集群。自组织微型机器人集群通过流体动力学自推进机制在固体基底上方平移。团簇速度随团簇大小的增加而增加，这是由于集体流体动力学效应。集群的凝聚力的相互作用的强度和阻碍的异质性，个别微型机器人。内聚相互作用的可扩展性允许形成更大的群体，其内部时空组织经历了一个过渡，从固体般的秩序，液体般的行为与集群大小的增加。我们的工作阐明了动态的集群下凝聚力的相互作用，并提出了一种方法来解决操作的微型机器人作为本地化的团队。
英文摘要：
Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation relies on a balance between attractive and repulsive interactions between agents. We found that a balance of magnetic dipolar attraction and multipolar repulsion between self-assembled particle chain microrobots enable their self-organization into cohesive clusters. Self-organized microrobotic clusters translate above a solid substrate via a hydrodynamic self-propulsion mechanism. Cluster velocity increases with cluster size, resulting from collective hydrodynamic effects. Clustering is promoted by the strength of cohesive interactions and hindered by heterogeneities of individual microrobots. Scalability of cohesive interactions allows formation of larger groups, whose internal spatiotemporal organization undergoes a transition from solid-like ordering to liquid-like behavior with increasing cluster size. Our work elucidates the dynamics of clustering under cohesive interactions, and presents an approach for addressing operation of microrobots as localized teams.
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