When an ensemble of self-propelled camphor boats move in a one-dimensional channel, they exhibit a variety of collective behaviors. Under certain conditions, the boats tend to cluster together and move in a relatively tight formation. This type of behavior, referred to as clustering or swarming here, is one of three types recently observed in experiment. Similar clustering behavior is also reproduced in simulations based on a simple theoretical model. Here we examine this model to determine the clustering mechanism and the conditions under which clustering occurs. We also propose a method of quantifying the behavior that may be used in future experimental work.

• Received 12 December 2011

DOI:https://doi.org/10.1103/PhysRevE.85.055201