Science Advances

Supplementary Materials

The PDFset includes:

  • Section S1. Nomenclature
  • Section S2. Supplemental Methods and Results
  • Fig. S1. Swarm particle pair potentials with different amounts of attraction.
  • Fig. S2. Examples illustrating the optimal assignment solution.
  • Fig. S3. Optimal control policy for single particles–single targets, multiple particles–multiple targets, and cargo capture.
  • Fig. S4. Osmotic pressure from sedimentation equilibrium and swarm configurations.
  • Fig. S5. Steady-state density and force distribution during the capture process for N = 60.
  • Fig. S6. Steady-state density and force distribution during the transport process for N = 60.
  • Fig. S7. MSD analysis for cargo and swarm particles during steady-state capture.
  • Fig. S8. MSD analysis for cargo and swarm particles during steady-state transport.
  • Fig. S9. Steady-state energy consumption rate for swarm particles during cargo transport.
  • Fig. S10. Example extensions of colloidal swarm functions.
  • Legends for movies S1 to S11

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.avi format). High-quality three-dimensional rendering of cargo capture by N = 60 swarms for UM = 5.3kT.
  • Movie S2 (.avi format). Cargo capture by N = 90 swarms for UM = 0kT.
  • Movie S3 (.avi format). Cargo capture by N = 90 swarms for UM = 3.2kT.
  • Movie S4 (.avi format). Cargo capture by N = 90 swarms for UM = 5.3kT.
  • Movie S5 (.avi format). Cargo capture by N = 6 (0kT), 18 (5.3kT), 36 (5.3kT), and 60 (3.2kT) swarms.
  • Movie S6 (.avi format). Crystalline swarm melting without capture control for N = 18, 36, 60, and 90 and UM = 5.3kT.
  • Movie S7 (.avi format). Cargo transport by N = 90 swarms for UM = 0kT.
  • Movie S8 (.avi format). Cargo transport by N = 90 swarms for UM = 3.2kT.
  • Movie S9 (.avi format). Cargo transport by N = 90 swarms for UM = 5.3kT.
  • Movie S10 (.avi format). Cargo capture and transport by N = 36 (3.2kT), 36 (5.3kT), 60 (3.2kT), and 60 (5.3kT) swarms.
  • Movie S11 (.avi format). Cargo transport without capture control for N = 18 (8.7kT), 36 (5.3kT), 60 (5.3kT), and 90 (5.3kT) swarms.

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