Fig. 5: Collective mode transitions between different collective formations defined by the values for Ωx and Ωy.
From: Microrobot collectives with reconfigurable morphologies, behaviors, and functions
a Experimental transitions (from left to right): static (\({\Omega }_{x}=60\) Hz, \({\Omega }_{y}=30\) Hz), oscillation (\({\Omega }_{x}=31\) Hz, \({\varOmega }_{y}=30\) Hz), Y chains (\({\Omega }_{x}=0\) Hz, \({\Omega }_{y}=30\) Hz), X chains (\({\Omega }_{x}=30\) Hz, \({\Omega }_{y}=0\) Hz, \({B}_{y}=10\) mT), oscillating chains (\({\Omega }_{x}=1\) Hz, \({\Omega }_{y}=0\) Hz, \({B}_{y}=10\) mT), GaSSP (\({\Omega }_{x}=70\) Hz, \({\Omega }_{y}=0\) Hz, \({B}_{y}=0\) mT), Rotation (\({\Omega }_{x},{\Omega }_{y}=70\) Hz), Static (\({\Omega }_{x}=60\) Hz, \({\Omega }_{y}=30\) Hz). b Simulated mode transitions corresponding to the experiments in (a). The last frame of a mode in the simulations is used as the first frame in the simulation of a subsequent mode. The brightness of the images in (a, b) is enhanced using photoshop for better visualization. The symbols on top of the sub-images in (a, b) represent the mode that collective exhibits. These symbols correspond to those shown in Fig. 1a.
