Flowrate behavior and clustering of self-driven robots in a channel

Tian Bo^{1, 2}, Sun Wang-Ping¹, Li Ming^{1, †}, Jiang Rui³, Hu Mao-Bin^{1, ‡}

(color online) Cluster-size distribution P(n) for different numbers of robots. A cluster is defined as a serial of robots in which each pair of neighboring robots is separated by less than 5% body length. And the cluster sizes are obtained every 5 s.