We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free flow to congested traffic as the density of the system increases. In the latter scenario we also observe the characteristic stop-and-go waves. The unique advantages of this novel system, such as experimental stability and repeatability, allow for extended experimental runs, facilitating a comprehensive statistical analysis of the global dynamics. Above a certain density, we observe a divergence of the average jam duration and the average number of robots involved in it. This discovery enables us to precisely identify another transition: from congested intermittent flow (for intermediate densities) to a totally congested scenario for high densities. Beyond this finding, the present work demonstrates the suitability of robot swarms to model complex behaviors in many particle systems.

翻译：我们报告了一组通过位置传感器相互作用的机器人群体在单列运动中的实验结果。我们成功复现了此类系统的典型基本图，展示了随系统密度增加从自由流到拥堵流的相变过程。在后者中，我们还观察到了特征性的"走走停停"波。这一新型系统的独特优势（如实验稳定性和可重复性）使我们能够进行长时间实验运行，从而对全局动力学开展全面的统计分析。当密度超过特定阈值时，我们观察到平均拥堵持续时间与参与拥堵的平均机器人数量出现发散现象。这一发现使我们能够精确定义另一种相变：从中等密度下的间歇性拥堵流到高密度下的完全拥堵状态。除上述发现外，本研究还证明了机器人群体在模拟多粒子系统复杂行为方面的适用性。