Single file motion of robot swarms

Abstract

We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free flow to congested traffic as the density of the system increases. In the latter scenario we also observe the characteristic stop-and-go waves. The unique advantages of this novel system, such as experimental stability and repeatability, allow for extended experimental runs, facilitating a comprehensive statistical analysis of the global dynamics. Above a certain density, we observe a divergence of the average jam duration and the average number of robots involved in it. This discovery enables us to precisely identify another transition: from congested intermittent flow (for intermediate densities) to a totally congested scenario for high densities. Beyond this finding, the present work demonstrates the suitability of robot swarms to model complex behaviors in many particle systems.