Self-Organised Saliency Detection and Representation in Robot Swarms

Alhafnawi, Merihan; Hauert, Sabine; O'Dowd, Paul

doi:10.1109/lra.2021.3057567

Cited by 11 publications

(10 citation statements)

References 25 publications

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“…For instance, accurate knowledge of the location of the wetting transition could allow tests of relationships between gas-liquid, wall-gas, and wall-liquid surface tensions in active matter. Our results thus open up new avenues of theoretical enquiry, and are also amenable to experimental tests, e.g., with self-propelled colloids [43][44][45] or elementary robots [46][47][48].…”

mentioning

confidence: 78%

Wetting Transition of Active Brownian Particles on a Thin Membrane

Turci

Wilding

2021

Phys. Rev. Lett.

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We study nonequilibrium analogues of surface phase transitions in a minimal model of active particles in contact with a purely repulsive potential barrier that mimics a thin porous membrane. Under conditions of bulk motility-induced phase separation, the interaction strength ε w of the barrier controls the affinity of the dense phase for the barrier region. We uncover clear signatures of a wetting phase transition as ε w is varied. In common with its equilibrium counterpart, the character of this transition depends on the system dimensionality: a continuous transition with large density fluctuations and gas bubbles is uncovered in 2D while 3D systems exhibit a sharp transition absent of large correlations.

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mentioning

confidence: 78%

Wetting Transition of Active Brownian Particles on a Thin Membrane

Turci

Wilding

2021

Phys. Rev. Lett.

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“… 12 and our proposed method require external global positioning, whereas the one in ref. 21 does not. The comparison results are presented in Fig.…”

Section: Resultsmentioning

confidence: 93%

“…The method in ref. 21 can aggregate robots on the frontier of shapes based on saliency detection. The user-defined shape is specified by a digital light projector.…”

Section: Introductionmentioning

confidence: 99%

Mean-shift exploration in shape assembly of robot swarms

Sun

Zhou

et al. 2023

Nat Commun

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The fascinating collective behaviors of biological systems have inspired extensive studies on shape assembly of robot swarms. Here, we propose a strategy for shape assembly of robot swarms based on the idea of mean-shift exploration: when a robot is surrounded by neighboring robots and unoccupied locations, it would actively give up its current location by exploring the highest density of nearby unoccupied locations in the desired shape. This idea is realized by adapting the mean-shift algorithm, which is an optimization technique widely used in machine learning for locating the maxima of a density function. The proposed strategy empowers robot swarms to assemble highly complex shapes with strong adaptability, as verified by experiments with swarms of 50 ground robots. The comparison between the proposed strategy and the state-of-the-art demonstrates its high efficiency especially for large-scale swarms. The proposed strategy can also be adapted to generate interesting behaviors including shape regeneration, cooperative cargo transportation, and complex environment exploration.

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“…Our results thus open up new avenues of theoretical enquiry, and are also amenable to experimental tests, e.g. with self-propelled colloids [43][44][45] or elementary robots [46][47][48].…”

mentioning

confidence: 78%

Wetting transition of active Brownian particles on a thin membrane

Turci,

Wilding

2021

Preprint

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We study non-equilibrium analogues of surface phase transitions in a minimal model of active particles in contact with a purely repulsive potential barrier that mimics a thin porous membrane. Under conditions of bulk motility-induced phase separation, the interaction strength εw of the barrier controls the affinity of the dense phase for the barrier region. We uncover clear signatures of a wetting phase transition as εw is varied. In common with its equilibrium counterpart, the character of this transition depends on the system dimensionality: a continuous transition with large density fluctuations and gas bubbles is uncovered in 2d while 3d systems exhibit a sharp transition absent of large correlations.

show abstract

Self-Organised Saliency Detection and Representation in Robot Swarms

Cited by 11 publications

References 25 publications

Wetting Transition of Active Brownian Particles on a Thin Membrane

Wetting Transition of Active Brownian Particles on a Thin Membrane

Mean-shift exploration in shape assembly of robot swarms

Wetting transition of active Brownian particles on a thin membrane

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