In this work, we apply physical granular segregation phenomena to the problem of intra-swarm module migration in a robotic swarm. These segregation phenomena allow for complex relative motion between interacting particles on the basis of differing physical properties. In particular, the Brazil nut effect is one such phenomenon that causes segregation of particles based on relative size difference. We simulated size-variable modules in order to take advantage of this effect and induce intra-swarm module migration. Intra-swarm module migration refers to the movement of the modules within the confines of the swarm, relative to each other, as well as the swarm container. We introduced two methods to produce different kinds of module movement. The first of these, called the flashlight method, induced movement of an individual module relative to its neighbours. The second, called the zone method, induced an orientation-aligned global module motion within the swarm. In this work, we evaluate the effects of different parameters on the nature of the movements induced by these methods. GRAPHICAL ABSTRACT

中文翻译：

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利用巴西坚果效应的大小可变机器人模块的群内迁移

在这项工作中，我们将物理粒度分离现象应用于机器人群中的群内模块迁移问题。这些分离现象允许基于不同物理特性的相互作用粒子之间进行复杂的相对运动。特别是，巴西坚果效应是一种这样的现象，它导致基于相对尺寸差异的颗粒分离。我们模拟了大小可变的模块，以利用这种效应并诱导群内模块迁移。群内模块迁移是指模块在群范围内的相对于彼此以及群容器的移动。我们介绍了两种方法来产生不同种类的模块运动。第一个，称为手电筒方法，引起单个模块相对于其邻居的运动。第二种称为区域方法，在群内引起方向对齐的全局模块运动。在这项工作中，我们评估了不同参数对这些方法引起的运动性质的影响。图形概要