Emergent Chirality and Hyperuniformity in an Active Mixture with Nonreciprocal Interactions.

We investigate collective dynamics in a binary mixture of programmable robots in experiments and simulations. While robots of the same species align their motion direction, interaction between species is distinctly nonreciprocal: species A aligns with B and species B antialigns with A. This nonreciprocal interaction gives rise to the emergence of collective chiral motion that can be stabilized by limiting the robot angular speed to be below a threshold. Within the chiral phase, increasing the robot density or extending the range of local repulsive interactions can drive the system through an absorbing-active transition. At the transition point, the robots exhibit a remarkable capacity for self-organization, forming disordered hyperuniform states.

Perception of motion salience shapes the emergence of collective motions.

Despite the profound implications of self-organization in animal groups for collective behaviors, understanding the fundamental principles and applying them to swarm robotics remains incomplete. Here we propose a heuristic measure of perception of motion salience (MS) to quantify relative motion changes of neighbors from first-person view. Leveraging three large bird-flocking datasets, we explore how this perception of MS relates to the structure of leader-follower (LF) relations, and further perform an individual-level correlation analysis between past perception of MS and future change rate of velocity consensus. We observe prevalence of the positive correlations in real flocks, which demonstrates that individuals will accelerate the convergence of velocity with neighbors who have higher MS. This empirical finding motivates us to introduce the concept of adaptive MS-based (AMS) interaction in swarm model. Finally, we implement AMS in a swarm of ~102 miniature robots. Swarm experiments show the significant advantage of AMS in enhancing self-organization of the swarm for smooth evacuations from confined environments.

Exploring the criticality hypothesis using programmable swarm robots with Vicsek-like interactions.

A widely mentioned but not experimentally confirmed view (known as the 'criticality hypothesis') argues that biological swarm systems gain optimal responsiveness to perturbations and information processing capabilities by operating near the critical state where an ordered-to-disordered state transition occurs. However, various factors can induce the ordered-disordered transition, and the explicit relationship between these factors and the criticality is still unclear. Here, we present an experimental validation for the criticality hypothesis by employing real programmable swarm-robotic systems (up to 50 robots) governed by Vicsek-like interactions, subject to time-varying stimulus-response and hazard avoidance. We find that (i) not all ordered-disordered motion transitions correspond to the functional advantages for groups; (ii) collective response of groups is maximized near the critical state induced by alignment weight or scale rather than noise and other non-alignment factors; and (iii) those non-alignment factors act to highlight the functional advantages of alignment-induced criticality. These results suggest that the adjustability of velocity or directional coupling between individuals plays an essential role in the acquisition of maximizing collective response by criticality. Our results contribute to understanding the adjustment strategies of animal interactions from a perspective of criticality and provide insights into the design and control of swarm robotics.