Portraits of self-organization in fish schools interacting with robots

In this paper, we propose an enabling computational and theoretical framework for the analysis of experimental instances of collective behavior in response to external stimuli. In particular, this work addresses the characterization of aggregation and interaction phenomena in robotanimal groups through the exemplary analysis of fish schooling in the vicinity of a biomimetic robot. We adapt global observables from statistical mechanics to capture the main features of the shoal collective motion and its response to the robot from experimental observations. We investigate the shoal behavior by using a diffusion mapping analysis performed on these global observables that also informs the definition of relevant portraits of self-organization.