Fig. 5: The process of an immobilized cyborg being saved by neighbors.
From: Swarm navigation of cyborg-insects in unknown obstructed soft terrain
a Entangle and detach from obstacles. A cyborg’s “Y” shape marker became wedged on an obstacle (t = t2), and the corresponding displacement almost remained the same during this period. Then the surrounding cyborgs navigated around the trapped one and the obstacle (t = t3). Through our algorithm, the trapped cyborg gradually overcame the obstacle with the “attractive force” from other cyborgs, and the displacement started changing again. The red dots in the displacement plot represent electrical stimulations applied to the cyborgs. Finally, the cyborg detached from the obstacle (t = t4). See Supplementary video 4. b Recover from an overturn. The gray bar in the bar chart denotes the time interval of a self-attempted period for recovery of an overturned cyborg. The bar’s bottom and top indicate the start and ending moments. Similarly, the purple bar denotes the time taken for recovery with help from a neighbor. In Cases 1 and 3, the overturned cyborg first attempted and failed to recover by itself for a while, then successfully recovered by grabbing a passing neighbor. The corresponding recovery processes are illustrated by the snapshots. The experiment results are shown by Supplementary Video 5. Source data are provided as a Source Data file.
