Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase
  Separation Theory   In robot swarms operating under highly restrictive sensing and communication
constraints, individuals may need to use direct physical proximity to
facilitate information exchange. However, in certain task-related scenarios,
this requirement might conflict with the need for robots to spread out in the
environment, e.g., for distributed sensing or surveillance applications. This
paper demonstrates how a swarm of minimally-equipped robots can form
high-density robot aggregates which coexist with lower robot densities in the
domain. We envision a scenario where a swarm of vibration-driven robots---which
sit atop bristles and achieve directed motion by vibrating them---move somewhat
randomly in an environment while colliding with each other. Theoretical
techniques from the study of far-from-equilibrium collectives and statistical
mechanics clarify the mechanisms underlying the formation of these high and low
density regions. Specifically, we capitalize on a transformation that connects
the collective properties of a system of self-propelled particles with that of
a well-studied molecular fluid system, thereby inheriting the rich theory of
equilibrium thermodynamics. This connection is a formal one and is a relatively
recent result in studies of motility induced phase separation; it is previously
unexplored in the context of robotics. Real robot experiments as well as
simulations illustrate how inter-robot collisions can precipitate the formation
of non-uniform robot densities in a closed and bounded region.

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The categories of this paper are: cmp-lg
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The categories of this paper are: stat
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The categories of this paper are: hep-ph
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The categories of this paper are: hep-th
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The categories of this paper are: supr-con
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The categories of this paper are: hep-lat
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The categories of this paper are: q-bio
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The categories of this paper are: q-fin
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The categories of this paper are: alg-geom
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The categories of this paper are: solv-int
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The categories of this paper are: funct-an
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The categories of this paper are: q-alg
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The categories of this paper are: hep-ex
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The categories of this paper are: econ
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The categories of this paper are: math-ph
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The categories of this paper are: acc-phys