arXiv subjects

Olivier Dauchot

Publications and source records attributed to Olivier Dauchot.

At least 19 recordsLinked to original sources

arXiv2026

Active pistons extract work by periodic compression alone

Active matter is liable to invent protocols that evade the constraints of equilibrium thermodynamics. We put forward active pistons that extract work by periodic compression alone without changing any bulk property of the system. Such pistons necessarily couple the perturbation imposed by an external operator with some degrees of freedom internal to active components. We illustrate this design principle with elastic networks composed of self-aligning motile particles. For slow protocols, self-alignment always overwhelms mechanical friction when the internal activity exceeds a specific threshold controlled by fluctuations. We identify the key response coefficient that helps delineate regimes of work extraction, and reveal that the corresponding phase diagram follows a master curve with re-entrance in terms of noise amplitude. Overall, our active pistons embody a novel design principle with broad implications for building innovative engines far from equilibrium.

cond-mat.soft↗

arXiv2026

From Active to Odd to Smart Matter

The study of active matter has reshaped our understanding of collective states of matter far from equilibrium by proving that energy pumped into the microscopic scale leads to order on the macroscopic scale, collective motion, and anomalous mechanical responses. More recently, the discovery of odd elasticity and nonreciprocal mechanical couplings has extended these ideas to solid-like active systems, revealing materials with nonconservative elastic response. Simultaneously, innovative developments in swarm robotics , programmable metamaterials , and learning algorithms have led to the emergence of a new frontier in which collective behavior and mechanical response are no longer fixed by design, but adapted, optimized, and learned toward functional goals. This Perspective proposes a unifying trajectory, from active to odd to smart matter, organized along two intertwined axes: the traditional gas--liquid--solid progression of condensed matter, and the more recentparadigm shift from spontaneous collective dynamics to task-driven functionality. We try to highlight emerging principles, conceptual shifts, and open challenges that come along this trajectory, and argue that learning may play the role of a specific form of emergence, which could advantageously replace the more traditional view of control, at least in the realm of physics.

cond-mat.soft↗

arXiv2026

Theory of collective learning in populations of adaptive agents

We investigate homogeneous populations of smart active agents that exchange information with their neighbors to perform a decentralized learning process aimed at achieving a prescribed macroscopic state. Such agents may, for example, represent simple microrobots. The exchanged information comprises tunable parameters governing the agent dynamics, referred to as the individual policy, together with an internal memory encoding previously visited states. This memory is used to evaluate a reward that quantifies the success of a policy to achieve the prescribed state. We extend the kinetic-theory description of collective learning in spatially homogeneous systems [Phys. Rev. Lett. 134, 248302 (2025)] and derive formal evolution equations for the distribution of policies across the population. A central outcome of our theory is the emergence of an effective reward function that fully determines the evolution of the policy distribution and encapsulates the microscopic details of the agents physical and memory dynamics. We obtain closed equations for the policy mean and variance which admit explicit time-dependent solutions under the assumption of Gaussian-distributed memories and polices. To illustrate the framework, we present a series of minimal microscopic models, considering both perfect and partial separation of physical, memory and policy exchange time scales, as well as models with one- and two-dimensional policies. The obtained theoretical results compare well with agent-based numerical simulations. The theory captures key aspects of collective learning, including the influence of population diversity and reward fluctuations on learning performance. Finally, we discuss potential applications to swarm robotics and machine learning, and highlight connections with classical models of biological evolution, including the Replicator equation and the Moran model.

cond-mat.stat-mech↗

arXiv2026

Aggregating swarms through morphology handling design contingencies: from the sweet spot to a rich expressivity

Morphological computing, the use of the physical design of a robot to ease the realization of a given task has been proven to be a relevant concept in the context of swarm robotics. Here we demonstrate both experimentally and numerically, that the success of such a strategy may heavily rely on the type of policy adopted by the robots, as well as on the details of the physical design. To do so, we consider a swarm of robots, composed of Kilobots embedded in an exoskeleton, the design of which controls the propensity of the robots to align or anti-align with the direction of the external force they experience. We find experimentally that the contrast that was observed between the two morphologies in the success rate of a simple phototactic task, where the robots were programmed to stop when entering a light region, becomes dramatic, if the robots are not allowed to stop, and can only slow down. Building on a faithful physical model of the self-aligning dynamics of the robots, we perform numerical simulations and demonstrate on one hand that a precise tuning of the self-aligning strength around a sweet spot is required to achieve an efficient phototactic behavior, on the other hand that exploring a range of self-alignment strength allows for a rich expressivity of collective behaviors.

cond-mat.soft↗

arXiv2025

Pogobot: an Open-Source, Low-Cost Robot for Swarm Robotics and Programmable Active Matter

This paper describes the Pogobot, an open-source platform specifically designed for research at the interface of swarm robotics and active matter. Pogobot features vibration-based or wheel-based locomotion, fast infrared communication, and an array of sensors in a cost-effective package (approx. 250euros/unit). The platform's modular design, comprehensive API, and extensible architecture facilitate the implementation of swarm intelligence algorithms and collective motion. Pogobots offer an accessible alternative to existing platforms while providing advanced capabilities including directional communication between units and fast locomotion, all with a compact form factor. More than 200 Pogobots are already being used on a daily basis in several Universities to study self-organizing systems, programmable active matter, discrete reaction-diffusion-advection systems and computational models of social learning and evolution. This paper details the hardware and software architecture, communication protocols, locomotion mechanisms, and the infrastructure built around the Pogobots.

cs.RO↗

arXiv2025

Collective actuation in active solids in the presence of a polarizing field: a systematic analysis of the dynamical regimes

Collective actuation in active solids, the spontaneous condensation of the dynamics on a few elastic modes, takes place whenever the deformations of the structure reorient the forces exerted by the active units composing, or embedded in, the solid. In a companion paper, we show through a combination of model experiments, numerical simulations, and theoretical analysis that adding an external field that polarizes the active forces strongly affects the dynamical transition to collective actuation. A new oscillatory regime emerges, and a reentrance transition to collective actuation takes place. Depending on the degeneracy of the modes on which the dynamics condensates, and on the orientation of the field with respect to the stiff direction of the solid, several new dynamical regimes can be observed. The purpose of the present paper is to review these dynamical regimes in a comprehensive way, both for the single-particle dynamics and for the coarse-grained one. Whenever possible the dynamical regimes and the transition between them are described analytically, otherwise numerically.

cond-mat.soft↗

arXiv2025

Reentrant transition to collective actuation in active solids with a polarizing field

Collective actuation in active solids - the spontaneous coherent excitation of a few vibrational modes - emerges from a feedback between structural deformations and the orientation of active forces. It is an excellent candidate as a basic mechanism for oscillatory dynamics and regulation in dense living systems, and a better control over its onset would open new avenues in the life sciences. Combining model experiments, simulations and theory, we study the dynamics of such an active solid in the presence of an external field that polarizes the active forces. The experiments reveal a novel oscillatory regime absent at zero field. The theoretical analysis of a single agent demonstrates that the small field oscillations and the large field ones can be mapped onto the bounded and unbounded phase dynamics of a nonlinear pendulum. In the many agents case, the transition to collective actuation is promoted at low field, leading to a reentrant transition.

cond-mat.soft↗

arXiv2024

Tuning collective actuation of active solids by optimizing activity localization

Active solids, more specifically elastic lattices embedded with polar active units, exhibit collective actuation when the elasto-active feedback, generically present in such systems, exceeds some critical value. The dynamics then condensates on a small fraction of the vibrational modes, the selection of which obeys non trivial rules rooted in the nonlinear part of the dynamics. So far the complexity of the selection mechanism has limited the design of specific actuation. Here we investigate numerically how, localizing the activity on a fraction of modes, one can select non-trivial collective actuation. We perform numerical simulations of an agent based model on triangular and disordered lattices and vary the concentration and the localization of the active agents on the lattices nodes. Both contribute to the distribution of the elastic energy across the modes. We then introduce an algorithm, which, for a given fraction of active nodes, evolves the localization of the activity in such a way that the energy distribution on a few targeted modes is maximized -- or minimized. We illustrate on a specific targeted actuation, how the algorithm performs as compared to manually chosen localization of the activity. While, in the case of the ordered lattice, a well educated guess performs better than the algorithm, the latter outperform the manual trials in the case of the disordered lattice. Finally, the analysis of the results in the case of the ordered lattice leads us to introduce a design principle based on a measure of the susceptibility of the modes to be activated along certain activation paths.

cond-mat.soft↗

arXiv2024

Laminar-Turbulent Patterns in Shear Flows : Evasion of Tipping, Saddle-Loop Bifurcation and Log scaling of the Turbulent Fraction

We analyze a one-dimensional two-scalar fields reaction advection diffusion model for the globally subcritical transition to turbulence. In this model, the homogeneous turbulent state is disconnected from the laminar one and disappears in a tipping catastrophe scenario. The model however exhibits a linear instability of the turbulent homogeneous state, mimicking the onset of the laminar-turbulent patterns observed in the transitional regime of wall shear flows. Numerically continuing the solutions obtained at large Reynolds numbers, we construct the Busse balloon associated with the multistability of the nonlinear solutions emerging from the instability. In the core of the balloon, the turbulent fluctuations, encoded into a multiplicative noise, select the pattern wavelength. On the lower Reynolds number side of the balloon, the pattern follows a cascade of destabilizations towards larger and larger, eventually infinite wavelengths. In that limit, the periodic limit cycle associated with the spatial pattern hits the laminar fixed point, resulting in a saddle-loop global bifurcation and the emergence of solitary pulse solutions. This saddle-loop scenario predicts a logarithmic divergence of the wavelength, which captures experimental and numerical data in two representative shear flows.

physics.flu-dyn↗

arXiv2024

Dynamical Facilitation Governs the Equilibration Dynamics of Glasses

Convincing evidence of domain growth in the heating of ultrastable glasses suggests that the equilibration dynamics of super-cooled liquids could be driven by a nucleation and growth mechanism. We investigate this possibility by simulating the equilibration dynamics of a model glass during both heating and cooling between poorly and well-annealed states. Though we do observe the growth of domains during heating, we find that domains are absent during cooling. This absence is inconsistent with classical nucleation theory. By comparing the equilibration dynamics of our glass with that of two models with kinetic constraints, we demonstrate that dynamical facilitation generically leads to heating driven by domain growth and cooling without domains. Our results provide strong evidence that dynamical facilitation, not nucleation and interfacial-tension-driven domain growth, is the driving mechanism for the equilibration dynamics of glass-formers.

cond-mat.soft↗

arXiv2024

Self-Aligning Polar Active Matter

Self-alignment describes the property of a polar active unit to align or anti-align its orientation towards its velocity. In contrast to mutual alignment, where the headings of multiple active units tend to directly align to each other -- as in the celebrated Vicsek model --, self-alignment impacts the dynamics at the individual level by coupling the rotation and displacements of each active unit. This enriches the dynamics even without interactions or external forces, and allows, for example, a single self-propelled particle to orbit in a harmonic potential. At the collective level, self-alignment modifies the nature of the transition to collective motion already in the mean field description, and it can also lead to other forms of self-organization such as collective actuation in dense or solid elastic assemblies of active units. This has significant implications for the study of dense biological systems, metamaterials, and swarm robotics. Here, we review a number of models that were introduced independently to describe the previously overlooked property of self-alignment and identify some of its experimental realizations. Our aim is three-fold: (i)~underline the importance of self-alignment in active systems, especially in the context of dense populations of active units and active solids; (ii)~provide a unified mathematical and conceptual framework for the description of self-aligning systems; (iii)~discuss the common features and specific differences of the existing models of self-alignment. We conclude by discussing promising research avenues in which the concept of self-alignment could play a significant role.

cond-mat.soft↗

arXiv2024

Noise-Induced Collective Actuation in Active Solids

Collective actuation describes the spontaneous synchronized oscillations taking place in active solids, when the elasto-active feedback, that generically couples the reorientation of the active forces and the elastic stress, is large enough. In the absence of noise, collective actuation takes the form of a strong condensation of the dynamics on a specific pair of modes and their generalized harmonics. Here we report new experiments conducted with centimetric active elastic structures, where collective oscillation takes place along the single lowest energy mode of the system, gapped from the other modes because of the system's geometry. Combining the numerical and theoretical analysis of an agent-based model, we demonstrate that this new form of collective actuation is noise-induced. The effect of the noise is first analyzed in a single-particle toy model that reveals the interplay between the noise and the specific structure of the phase space. We then show that in the continuous limit, any finite amount of noise turns this new form of transition to collective actuation into a bona fide supercritical Hopf bifurcation.

cond-mat.soft↗

arXiv2024

Self-Aligning Active Agents with Inertia and Active Torque

We extend the study of the inertial effects on the dynamics of active agents to the case where self-alignment is present. In contrast with the most common models of active particles, we find that self-alignment, which couples the rotational dynamics to the translational one, produces unexpected and non-trivial dynamics, already at the deterministic level. Examining first the motion of a free particle, we contrast the role of inertia depending on the sign of the self-aligning torque. When positive, inertia does not alter the steady-state linear motion of an a-chiral self-propelled particle. On the contrary, for a negative self-aligning torque, inertia leads to the destabilization of the linear motion into a spontaneously broken chiral symmetry orbiting dynamics. Adding an active torque, or bias, to the angular dynamics the bifurcation becomes imperfect in favor of the chiral orientation selected by the bias. In the case of a positive self-alignment, the interplay of the active torque and inertia leads to the emergence, out of a saddle-node bifurcation, of truly new solutions, which coexist with the simply biased linear motion. In the context of a free particle, the rotational inertia leaves unchanged the families of steady-state solutions but can modify their stability properties. The situation is radically different when considering the case of a collision with a wall, where a very singular oscillating dynamics takes place which can only be captured if both translational and rotational inertia are present.

cond-mat.soft↗

arXiv2024

Active Solids Model: Rigid Body Motion and Shape-changing Mechanisms

Active solids such as cell collectives, colloidal clusters, and active metamaterials exhibit diverse collective phenomena, ranging from rigid body motion to shape-changing mechanisms. The nonlinear dynamics of such active materials remains however poorly understood when they host zero-energy deformation modes and when noise is present. Here, we show that stress propagation in a model of active solids induces the spontaneous actuation of multiple soft floppy modes, even without exciting vibrational modes. By introducing an adiabatic approximation, we map the dynamics onto an effective Landau free energy, predicting mode selection and the onset of collective dynamics. These results open new ways to study and design living and robotic materials with multiple modes of locomotion and shape-change.

cond-mat.soft↗

arXiv2023

Morphological computation and decentralized learning in a swarm of sterically interacting robots

Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots to act in a collision-dominated environment. We introduce the Morphobots -- a robotic swarm platform developed to implement embodied computation through a morpho-functional design. By engineering a 3D-printed exoskeleton we encode a re-orientation response to an external body force (such as gravity) or a surface force (such as a collision). We show that the force-orientation response is generic, and can augment existing swarm-robotic platforms (e.g Kilobots) as well as custom robots even 10 times larger. At the individual level, the exoskeleton improves the motility and stability, and also allows to encode two contrasting dynamical behaviors in response to an external force or a collision (including collision with a wall or a movable obstacle, and on a dynamically tilting plane). This force-orientation response adds a mechanical layer to the robot's sense-act cycle at the swarm level, leveraging steric interactions for collective phototaxis when crowded. Enabling collisions also promotes information flow, facilitating online distributed learning. Each robot runs an embedded algorithm that ultimately optimizes collective performance. We identify an effective parameter that controls the force-orientation response and explore its implications in swarms that transition from dilute to crowded. \green{Experimenting with both physical swarms (of up to 64 robots), and simulated swarms (of up to 8192 agents) show that the effect of morphological-computation increases with growing swarm size.

cond-mat.soft↗

arXiv2023

Reconfiguration, Interrupted Aging and Enhanced Dynamics of a Colloidal Gel using Photo-Switchable Active Doping

We study light-activated quasi-2d gels made of a colloidal network doped with Janus particles. Following the gel formation, the internal dynamics of the gel are monitored before, during, and after the light activation. We monitor both the structure and dynamics, before, during and after the illumination period. The mobility of the passive particles exhibits a characteristic scale-dependent response. Immediately following light activation, the gel displays large-scale reorganization, followed by progressive, short-scale displacements throughout the activation period. Albeit subtle structural changes (including pore opening and widening and shortening of strands) the colloidal network remains connected, and the gel maintains its structural integrity. Once activity is switched off, the gel keeps the memory of the structure inherited from the active phase. Remarkably, the motility remains larger than that of the gel, before the active period. The system has turned into a genuinely different gel, with frozen dynamics, but with more space for thermal fluctuations. The above conclusions remain valid long after the activity period.

cond-mat.soft↗

arXiv2022

Polymer-Chain Configurations in Active and Passive Baths

The configurations taken by polymers embedded in out-of-equilibrium baths may have broad effects in a variety of biological systems. As such, they have attracted considerable interest, particularly in simulation studies. Here we analyze the distribution of configurations taken by a passive flexible chain in a bath of hard, self-propelled, vibrated disks and systematically compare it to that of the same flexible chain in a bath of hard, thermal-like, vibrated disks. We demonstrate experimentally that the mean length and mean radius of gyration of both chains obey Flory's Law. However, the Kuhn length associated with the number of correlated monomers is smaller in the case of the active bath, corresponding to a higher effective temperature. Importantly, the active bath does not just simply map on a hot equilibrium bath. Close examination of the chains' configurations indicates a marked bias, with the chain in the active bath more likely assuming configurations with a single prominent bend.

cond-mat.soft↗

arXiv2022

The glass transition in molecules, colloids and grains: universality and specificity

We highlight certain key achievements in experimental work on molecular, colloidal and granular glassformers. This short review considers these three classes of experimental systems and focusses largely on the work of the authors and their coworkers and thus is far from exhaustive. Our goal is rather to discuss particular experimental results from these classes and to explore universality and specificity across the broad range of length- and time-scales they span. We emphasize that a variety of phenomena, not least dynamical heterogeneity, growing lengthscales and a change in structure, albeit subtle, are now well established in these three classes of glassformer. We then review some experimental measurements which depend more specifically on the class of glassformer, such as the Gardner transition and some which have been investigated more in one or two classes than in all, such as configurational entropy and evidence for a dynamical phase transition. We finally put forward some open questions and consider what could be done to fill some of the gaps between theoretical approaches and experiments.

cond-mat.soft↗