{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T05:19:16Z","timestamp":1779340756248,"version":"3.51.4"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"7748","license":[{"start":{"date-parts":[[2019,3,20]],"date-time":"2019-03-20T00:00:00Z","timestamp":1553040000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2019,3,20]],"date-time":"2019-03-20T00:00:00Z","timestamp":1553040000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Nature"],"published-print":{"date-parts":[[2019,3,21]]},"DOI":"10.1038\/s41586-019-1022-9","type":"journal-article","created":{"date-parts":[[2019,3,20]],"date-time":"2019-03-20T15:06:07Z","timestamp":1553094367000},"page":"361-365","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":297,"title":["Particle robotics based on statistical mechanics of loosely coupled\u00a0components"],"prefix":"10.1038","volume":"567","author":[{"given":"Shuguang","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Richa","family":"Batra","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Brown","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hyun-Dong","family":"Chang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nikhil","family":"Ranganathan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuck","family":"Hoberman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniela","family":"Rus","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hod","family":"Lipson","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,3,20]]},"reference":[{"key":"1022_CR1","doi-asserted-by":"publisher","first-page":"575","DOI":"10.1016\/j.tcb.2007.09.007","volume":"17","author":"P R\u00f8rth","year":"2007","unstructured":"R\u00f8rth, P. Collective guidance of collective cell migration. Trends Cell Biol. 17, 575\u2013579 (2007).","journal-title":"Trends Cell Biol."},{"key":"1022_CR2","doi-asserted-by":"publisher","first-page":"556","DOI":"10.1016\/j.tcb.2015.06.003","volume":"25","author":"A Haeger","year":"2015","unstructured":"Haeger, A., Wolf, K., Zegers, M. M. & Friedl, P. Collective cell migration: guidance principles and hierarchies. Trends Cell Biol. 25, 556\u2013566 (2015).","journal-title":"Trends Cell Biol."},{"key":"1022_CR3","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1038\/nmat3025","volume":"10","author":"DT Tambe","year":"2011","unstructured":"Tambe, D. T. et al. Collective cell guidance by cooperative intercellular forces. Nat. Mater. 10, 469\u2013475 (2011).","journal-title":"Nat. Mater."},{"key":"1022_CR4","doi-asserted-by":"publisher","first-page":"644","DOI":"10.1126\/science.1252610","volume":"345","author":"S Felton","year":"2014","unstructured":"Felton, S., Tolley, M., Demaine, E., Rus, D. & Wood, R. A method for building self-folding machines. Science 345, 644\u2013646 (2014).","journal-title":"Science"},{"key":"1022_CR5","doi-asserted-by":"publisher","first-page":"451","DOI":"10.1038\/nature19100","volume":"536","author":"M Wehner","year":"2016","unstructured":"Wehner, M. et al. An integrated design and fabrication strategy for entirely soft, autonomous robots. Nature 536, 451\u2013455 (2016).","journal-title":"Nature"},{"key":"1022_CR6","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1038\/435163a","volume":"435","author":"V Zykov","year":"2005","unstructured":"Zykov, V., Mytilinaios, E., Adams, B. & Lipson, H. Robotics: self-reproducing machines. Nature 435, 163\u2013164 (2005).","journal-title":"Nature"},{"key":"1022_CR7","doi-asserted-by":"publisher","first-page":"795","DOI":"10.1126\/science.1254295","volume":"345","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein, M., Cornejo, A. & Nagpal, R. Programmable self-assembly in a thousand-robot swarm. Science 345, 795\u2013799 (2014).","journal-title":"Science"},{"key":"1022_CR8","doi-asserted-by":"publisher","first-page":"445","DOI":"10.1038\/nrm2720","volume":"10","author":"P Friedl","year":"2009","unstructured":"Friedl, P. & Gilmour, D. Collective cell migration in morphogenesis, regeneration and cancer. Nat. Rev. Mol. Cell Biol. 10, 445\u2013457 (2009).","journal-title":"Nat. Rev. Mol. Cell Biol."},{"key":"1022_CR9","doi-asserted-by":"publisher","first-page":"3215","DOI":"10.1242\/jcs.036517","volume":"122","author":"CJ Weijer","year":"2009","unstructured":"Weijer, C. J. Collective cell migration in development. J. Cell Sci. 122, 3215\u20133223 (2009).","journal-title":"J. Cell Sci."},{"key":"1022_CR10","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1039\/C4IB00115J","volume":"6","author":"E M\u00e9hes","year":"2014","unstructured":"M\u00e9hes, E. & Vicsek, T. Collective motion of cells: from experiments to models. Integr. Biol. 6, 831\u2013854 (2014).","journal-title":"Integr. Biol."},{"key":"1022_CR11","doi-asserted-by":"publisher","first-page":"307","DOI":"10.1109\/TRO.2015.2400731","volume":"31","author":"J Chen","year":"2015","unstructured":"Chen, J., Gauci, M., Li, W., Kolling, A. & Gross, R. Occlusion-based cooperative transport with a swarm of miniature mobile robots. IEEE Trans. Robot. 31, 307\u2013321 (2015).","journal-title":"IEEE Trans. Robot."},{"key":"1022_CR12","doi-asserted-by":"publisher","first-page":"699","DOI":"10.1177\/02783649030229002","volume":"22","author":"Z Butler","year":"2000","unstructured":"Butler, Z. & Rus, D. L. Distributed planning and control for modular robots with modules. Int. J. Rob. Res. 22, 699\u2013715 (2000).","journal-title":"Int. J. Rob. Res."},{"key":"1022_CR13","doi-asserted-by":"publisher","first-page":"1115","DOI":"10.1109\/TRO.2006.882919","volume":"22","author":"R Gross","year":"2006","unstructured":"Gross, R., Bonani, M., Mondada, F. & Dorigo, M. Autonomous self-assembly in swarm-bots. IEEE Trans. Robot. 22, 1115\u20131130 (2006).","journal-title":"IEEE Trans. Robot."},{"key":"1022_CR14","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1109\/MRA.2007.339623","volume":"14","author":"M Yim","year":"2007","unstructured":"Yim, M. et al. Modular self-reconfigurable robot systems. IEEE Robot. Autom. Mag. 14, 43\u201352 (2007).","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1022_CR15","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1023\/A:1026504804984","volume":"10","author":"D Rus","year":"2001","unstructured":"Rus, D. & Vona, M. Crystalline robots: self-reconfiguration with compressible unit modules. Auton. Robots 10, 107\u2013124 (2001).","journal-title":"Auton. Robots"},{"key":"1022_CR16","doi-asserted-by":"crossref","unstructured":"Shimizu, M., Ishiguro, A. & Kawakatsu, T. Slimebot: a modular robot that exploits emergent phenomena. In Proc. 2005 IEEE International Conference on Robotics and Automation 2982\u20132987 (IEEE, 2005).","DOI":"10.1109\/ROBOT.2005.1570567"},{"key":"1022_CR17","doi-asserted-by":"publisher","first-page":"109","DOI":"10.1177\/1059712315573334","volume":"23","author":"T Umedachi","year":"2015","unstructured":"Umedachi, T., Horikiri, S., Kobayashi, R. & Ishiguro, A. Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold. Adapt. Behav. 23, 109\u2013121 (2015).","journal-title":"Adapt. Behav."},{"key":"1022_CR18","doi-asserted-by":"publisher","first-page":"869","DOI":"10.1387\/ijdb.092937mr","volume":"53","author":"M Rubenstein","year":"2009","unstructured":"Rubenstein, M., Sai, Y., Chuong, C. M. & Shen, W. M. Regenerative patterning in Swarm Robots: mutual benefits of research in robotics and stem cell biology. Int. J. Dev. Biol. 53, 869\u2013881 (2009).","journal-title":"Int. J. Dev. Biol."},{"key":"1022_CR19","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1023\/B:AURO.0000032940.08116.f1","volume":"17","author":"W-M Shen","year":"2004","unstructured":"Shen, W.-M., Will, P., Galstyan, A. & Chuong, C.-M. Hormone-inspired self-organization and distributed control of robotic swarms. Auton. Robots 17, 93\u2013105 (2004).","journal-title":"Auton. Robots"},{"key":"1022_CR20","doi-asserted-by":"publisher","first-page":"113002","DOI":"10.1088\/1361-6463\/aa56fe","volume":"50","author":"BA Camley","year":"2017","unstructured":"Camley, B. A. & Rappel, W.-J. Physical models of collective cell motility: from cell to tissue. J. Phys. D Appl. Phys. 50, 113002 (2017).","journal-title":"J. Phys. D Appl. Phys."},{"key":"1022_CR21","doi-asserted-by":"publisher","first-page":"E679","DOI":"10.1073\/pnas.1516503113","volume":"113","author":"D Ellison","year":"2016","unstructured":"Ellison, D. et al. Cell\u2013cell communication enhances the capacity of cell ensembles to sense shallow gradients during morphogenesis. Proc. Natl Acad. Sci. USA 113, E679\u2013E688 (2016).","journal-title":"Proc. Natl Acad. Sci. USA"},{"key":"1022_CR22","doi-asserted-by":"publisher","first-page":"E689","DOI":"10.1073\/pnas.1509597112","volume":"113","author":"A Mugler","year":"2016","unstructured":"Mugler, A., Levchenko, A. & Nemenman, I. Limits to the precision of gradient sensing with spatial communication and temporal integration. Proc. Natl Acad. Sci. USA 113, E689\u2013E695 (2016).","journal-title":"Proc. Natl Acad. Sci. USA"},{"key":"1022_CR23","doi-asserted-by":"publisher","first-page":"1074","DOI":"10.1016\/j.nano.2012.03.002","volume":"8","author":"L Zhang","year":"2012","unstructured":"Zhang, L., Petit, T., Peyer, K. E. & Nelson, B. J. Targeted cargo delivery using a rotating nickel nanowire. Nanomed. Nanotechnol. 8, 1074\u20131080 (2012).","journal-title":"Nanomed. Nanotechnol."},{"key":"1022_CR24","doi-asserted-by":"publisher","first-page":"1121","DOI":"10.1038\/4581121a","volume":"458","author":"M Sitti","year":"2009","unstructured":"Sitti, M. Voyage of the microrobots. Nature 458, 1121\u20131122 (2009).","journal-title":"Nature"},{"key":"1022_CR25","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1038\/nature25443","volume":"554","author":"W Hu","year":"2018","unstructured":"Hu, W., Lum, G. Z., Mastrangeli, M. & Sitti, M. Small-scale soft-bodied robot with multimodal locomotion. Nature 554, 81\u201385 (2018).","journal-title":"Nature"},{"key":"1022_CR26","doi-asserted-by":"publisher","first-page":"699","DOI":"10.1177\/02783649030229002","volume":"22","author":"Z Butler","year":"2003","unstructured":"Butler, Z. & Rus, D. Distributed planning and control for modular robots with unit-compressible modules. Int. J. Robot. Res. 22, 699\u2013715 (2003).","journal-title":"Int. J. Robot. Res."},{"key":"1022_CR27","doi-asserted-by":"crossref","unstructured":"Yu, C. H., Werfel, J. & Nagpal, R. Coordinating collective locomotion in an amorphous modular robot. In Proc. IEEE Int. Conf. Robot. Autom. 2777\u20132784 (IEEE, 2010).","DOI":"10.1109\/ROBOT.2010.5509867"},{"key":"1022_CR28","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0169179","volume":"12","author":"A Vergara","year":"2017","unstructured":"Vergara, A., Lau, Y., Mendoza-Garcia, R.-F. & Zagal, J. C. Soft modular robotic cubes: toward replicating morphogenetic movements of the embryo. PLoS One 12, e0169179 (2017).","journal-title":"PLoS One"},{"key":"1022_CR29","doi-asserted-by":"publisher","first-page":"7817","DOI":"10.1002\/anie.201703239","volume":"56","author":"A Altemose","year":"2017","unstructured":"Altemose, A. et al. Chemically controlled spatiotemporal oscillations of colloidal assemblies. Angew. Chem. Int. Ed. 56, 7817\u20137821 (2017).","journal-title":"Angew. Chem. Int. Ed."},{"key":"1022_CR30","doi-asserted-by":"publisher","first-page":"1705701","DOI":"10.1002\/adfm.201705701","volume":"28","author":"B Wang","year":"2018","unstructured":"Wang, B. et al. Reconfigurable swarms of ferromagnetic colloids for enhanced local hyperthermia. Adv. Funct. Mater. 28, 1705701 (2018).","journal-title":"Adv. Funct. Mater."},{"key":"1022_CR31","volume-title":"Sync: The Emerging Science of Spontaneous Order","author":"S Strogatz","year":"2003","unstructured":"Strogatz, S. Sync: The Emerging Science of Spontaneous Order (Hyperion, New York, 2003)."},{"key":"1022_CR32","doi-asserted-by":"publisher","first-page":"1645","DOI":"10.1137\/0150098","volume":"50","author":"RE Mirollo","year":"1990","unstructured":"Mirollo, R. E. & Strogatz, S. H. Synchronization of pulse-coupled biological oscillators. SIAM J. Appl. Math. 50, 1645\u20131662 (1990).","journal-title":"SIAM J. Appl. Math."},{"key":"1022_CR33","doi-asserted-by":"publisher","first-page":"754","DOI":"10.1109\/TEVC.2009.2017516","volume":"13","author":"AL Christensen","year":"2009","unstructured":"Christensen, A. L., O\u2019Grady, R. & Dorigo, M. From fireflies to fault-tolerant swarms of robots. IEEE Trans. Evol. Comput. 13, 754\u2013766 (2009).","journal-title":"IEEE Trans. Evol. Comput."},{"key":"1022_CR34","unstructured":"Perez-Diaz, F., Zillmer, R. & Gross, R. Firefly-inspired synchronization in swarms of mobile agents. In Proc. 2015 International Conference on Autonomous Agents and Multiagent Systems 279\u2013286 (International Foundation for Autonomous Agents and Multiagent Systems, 2015)."},{"key":"1022_CR35","doi-asserted-by":"publisher","first-page":"966","DOI":"10.1016\/j.robot.2013.08.006","volume":"62","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein, M., Ahler, C., Hoff, N. & Cabrera, A. Kilobot: a low cost robot with scalable operations designed for collective behaviors. Robot. Auton. Syst. 62, 966\u2013975 (2014).","journal-title":"Robot. Auton. Syst."}],"container-title":["Nature"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41586-019-1022-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41586-019-1022-9","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41586-019-1022-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,28]],"date-time":"2024-11-28T03:16:30Z","timestamp":1732763790000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41586-019-1022-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,20]]},"references-count":35,"journal-issue":{"issue":"7748","published-print":{"date-parts":[[2019,3,21]]}},"alternative-id":["1022"],"URL":"https:\/\/doi.org\/10.1038\/s41586-019-1022-9","relation":{"has-review":[{"id-type":"doi","id":"10.3410\/f.735358013.793558239","asserted-by":"object"}]},"ISSN":["0028-0836","1476-4687"],"issn-type":[{"value":"0028-0836","type":"print"},{"value":"1476-4687","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,3,20]]},"assertion":[{"value":"23 May 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 January 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 March 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The authors declare no competing interests.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}]}}