We study experimentally, numerically and analytically, the dynamics of a chiral active particle (cm-sized robots), pulled at a constant translational velocity. We show that the system can be mapped to a Brownian particle driven across a periodic potential landscape, and thus exhibits a rotational depinning transition in the noiseless limit, giving rise to a creep regime in the presence of rotational diffusion. We show that a simple model of chiral, self-aligning, active particles accurately describes such dynamics. The steady-state distribution and escape times from local potential barriers, corresponding to long-lived orientations of the particles, can be computed exactly within the model and is in excellent agreement with both experiments and particle-based simulations, with no fitting parameters. Our work thus consolidates such self-propelled robots as a model system for the study of chiral active matter, and highlights the interesting dynamics arising from the interplay between external and internal driving forces in the presence of a self-aligning torque.

The experimental use of micropatterned quasi-1D substrates has emerged as an useful experimental tool to study the nature of cell-cell interactions and gain insight on collective behaviour of cell colonies. Inspired by these experiments, we propose an active spin model to investigate the emergent properties of the cell assemblies. The lattice gas model incorporates the interplay of self-propulsion, polarity directional switching, intra-cellular attraction, and contact Inhibition Locomotion (CIL). In the absence of vacancies, which corresponds to a confluent cell packing on the substrate, the model reduces to an equilibrium spin model which can be solved exactly. In the presence of vacancies, the clustering is controlled by a dimensionless Peclet Number, Q - the ratio of magnitude of self-propulsion rate and directional switching rate of particles. In the absence of CIL interactions, we invoke a mapping to Katz-Lebowitz-Spohn(KLS) model to determine an exact analytical form of the cluster size distribution in the limit Q << 1. In the limit of Q >> 1, the cluster size distribution exhibits an universal scaling behaviour (in an approximate sense), such that the distribution function can be expressed as a scaled function of Q, particle density and CIL interaction strength. We characterize the phase behaviour of the system in terms of contour plots of average cluster size. The average cluster size exhibit a non-monotonic dependence on CIL interaction strength, attractive interaction strength, and self-propulsion.

We study inherently chiral self-propelled particles, self-rotating at a fixed frequency, in two dimensions, subjected to nematic alignment interactions and rotational noise. By means of both, homogeneous and spatially resolved mean field kinetic theory, we identify various different flocking states. We confirm the presence of the predicted phases using agent-based simulations, in particular, an homogeneous nematic phase at low frequencies, followed by a microflock pattern phase at larger frequencies, characterized by finite-size nematic clusters. We emphasize that special care has to be taken within the simulations in order to avoid artifacts, and present a non-standard simulation technique in order to avoid them.