Abstract

This paper proposes a swarm robot system capable of self-segregation by changing the size of each agent, utilising the Brazil Nut Effect. We simulated a 2D swarm robot system consisting of circular modules capable of changing their radius and, with the aid of externally supplied vibrations, utilising the Brazil Nut Effect to achieve segregation of the swarm. The effect also allowed for the migration of individual modules through the swarm. Additionally, we applied this segregation effect in simulation to create a flow of modules within the swarm. Lastly, we took the first steps toward physical verification of the experimental results by designing and building a prototype for a circular robot module capable of changing its radius in a manner inspired by a spiral torsion spring.