Science Robotics

Supplementary Materials

The PDF file includes:

  • Section S1. Detailed description of TS-Swarm
  • Section S2. Discussion of the results
  • Section S3. Highlights of movie S1
  • Fig. S1. State machine of TS-Swarm.
  • Fig. S2. Encoding of the range-and-bearing message in Mark I3.
  • Fig. S3. Guardians.
  • Fig. S4. State machine of a guardian.
  • Fig. S5. Guardian protocol (G protocol), sequence diagram.
  • Fig. S6. Motion of a link.
  • Fig. S7. Tail.
  • Fig. S8. Tail protocol (T protocol), sequence diagram.
  • Fig. S9. Construction and motion of a branch of chain.
  • Fig. S10. Runners.
  • Fig. S11. Trajectory followed by the runners around the chain.
  • Fig. S12. Motion of a runner along a branch of the chain.
  • Fig. S13. The chain in Mark I3 and Mark I4.
  • Fig. S14. The chain in Mark II3 and Mark II4.
  • Fig. S15. Exploration of the space of possible sequences in Mark II3.
  • Fig. S16. Encoding of the range-and-bearing message in Mark II3.
  • Fig. S17. Exploration of the space of possible sequences in Mark II4.
  • Fig. S18. Number of chain members in Mark I3.
  • Fig. S19. Comparison between Mark II3 and Mark II4.
  • Table S1. Guardian protocol (G protocol), description of messages.
  • Table S2. Tail protocol (T protocol), description of messages.
  • Table S3. Laboratory notebook.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Mark I3: Experiment with robots.
  • Movie S2 (.mp4 format). Mark I3: Reality and simulation, side by side.
  • Movie S3 (.mp4 format). Mark I3: Scalability study.
  • Movie S4 (.mp4 format). Mark I4: Four tasks.
  • Movie S5 (.mp4 format). Mark II3: Delayed feedback.
  • Movie S6 (.mp4 format). Mark II4: Four tasks with delayed feedback.

Files in this Data Supplement: