Field-mediated locomotor dynamics on highly deformable surfaces

Author:

Li Shengkai1ORCID,Ozkan-Aydin Yasemin2ORCID,Xiao Charles3ORCID,Small Gabriella4ORCID,Gynai Hussain N.1,Li Gongjie1ORCID,Rieser Jennifer M.5ORCID,Laguna Pablo6,Goldman Daniel I.1ORCID

Affiliation:

1. School of Physics, Georgia Institute of Technology, Atlanta, GA 30332

2. Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN 46556

3. Department of Mechanical Engineering, University of California, Santa Barbara, CA 93106

4. Walker Department of Mechanical Engineering, The University of Texas at Austin, Austin, TX 78712

5. Department of Physics, Emory University, Atlanta, GA 30322

6. Center for Gravitational Physics, Department of Physics, University of Texas at Austin, Austin, TX 78712

Abstract

Studies of active matter—systems consisting of individuals or ensembles of internally driven and damped locomotors—are of interest to physicists studying nonequilibrium dynamics, biologists interested in individuals and swarm locomotion, and engineers designing robot controllers. While principles governing active systems on hard ground or within fluids are well studied, another class of systems exists at deformable interfaces. Such environments can display mixes of fluid-like and elastic features, leading to locomotor dynamics that are strongly influenced by the geometry of the surface, which, in itself, can be a dynamical entity. To gain insight into principles by which locomotors are influenced via a deformation field alone (and can influence other locomotors), we study robot locomotion on an elastic membrane, which we propose as a model of active systems on highly deformable interfaces. As our active agent, we use a differential driven wheeled robotic vehicle which drives straight on flat homogeneous surfaces, but reorients in response to environmental curvature. We monitor the curvature field–mediated dynamics of a single vehicle interacting with a fixed deformation as well as multiple vehicles interacting with each other via local deformations. Single vehicles display precessing orbits in centrally deformed environments, while multiple vehicles influence each other by local deformation fields. The active nature of the system facilitates a differential geometry–inspired mathematical mapping from the vehicle dynamics to those of test particles in a fictitious “spacetime,” allowing further understanding of the dynamics and how to control agent interactions to facilitate or avoid multivehicle membrane-induced cohesion.

Publisher

Proceedings of the National Academy of Sciences

Subject

Multidisciplinary

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Macroscopic, artificial active matter;National Science Open;2024-04-01

2. A robophysical model of spacetime dynamics;Scientific Reports;2023-12-07

3. Orderly hysteresis in field-driven robot swarm active matter;Chinese Physics B;2023-06-01

4. Bidirectional wave-propelled capillary spinners;Communications Physics;2023-04-28

5. Robotic swimming in curved space via geometric phase;Proceedings of the National Academy of Sciences;2022-07-28

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