Controlling active colloidal particle swarms could enable useful microscopic functions in emerging applications at the interface of nanotechnology and robotics. Here, we present a computational study of controlling self-propelled colloidal particle propulsion speeds to cooperatively capture and transport cargo particles, which otherwise produce random dispersions. By sensing swarm and cargo coordinates, each particle's speed is actuated according to a control policy based on multiagent assignment and path planning strategies that navigate stochastic particle trajectories to targets around cargo. Colloidal swarms are shown to dynamically cage cargo at their center via inward radial forces while simultaneously translating via directional forces. Speed, power, and efficiency of swarm tasks display emergent coupled dependences on swarm size and pair interactions and approach asymptotic limits indicating near-optimal performance. This scheme exploits unique interactions and stochastic dynamics in colloidal swarms to capture and transport microscopic cargo in a robust, stable, error-tolerant, and dynamic manner.

中文翻译：

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胶体群捕获和运输货物。

在纳米技术和机器人技术的界面上，控制活性胶体粒子群可以在新兴应用中启用有用的微观功能。在这里，我们提出了一种计算研究，该研究控制自我推进的胶体颗粒推进速度，以协同捕获和运输货物颗粒，否则会产生随机分散。通过感知群和货物坐标，根据基于多代理分配和路径规划策略的控制策略来激活每个粒子的速度，该策略将随机粒子轨迹导航到货物周围的目标。胶体群被显示为通过向内的径向力将货物动态地保持在其中心，同时通过方向力平移。速度，功率，群任务的效率和效率显示出对群大小和配对交互的新兴耦合依赖性，并且接近渐近极限，表明性能接近最佳。该方案利用胶体群中独特的相互作用和随机动力学来以健壮，稳定，容错和动态的方式捕获和运输微观货物。