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Activity and autonomous motion are fundamental aspects of many living and engineering systems. Here, the scale of biological agents covers a wide range, from nanomotors, cytoskeleton, and cells, to insects, fish, birds, and people. Inspired by biological active systems, various types of autonomous synthetic nano- and micromachines have been designed, which provide the basis for multifunctional, highly responsive, intelligent active materials. A major challenge for understanding and designing active matter is their inherent non-equilibrium nature due to persistent energy consumption, which invalidates equilibrium concepts such as free energy, detailed balance, and time-reversal symmetry. Furthermore, interactions in ensembles of active agents are often non-additive and non-reciprocal. An important aspect of biological agents is their ability to sense the environment, process this information, and adjust their motion accordingly. It is an important goal for the engineering of micro-robotic systems to achieve similar functionality. With many fundamental properties of motile active matter now reasonably well understood and under control, the ground is prepared for the study of physical aspects and mechanisms of motion in complex environments, of the behavior of systems with new physical features like chirality, of the development of novel micromachines and microbots, of the emergent collective behavior and swarming of intelligent self-propelled particles, and of particular features of microbial systems. The vast complexity of phenomena and mechanisms involved in the self-organization and dynamics of motile active matter poses major challenges, which can only be addressed by a truly interdisciplinary effort involving scientists from biology, chemistry, ecology, engineering, mathematics, and physics.

Swarm robots offer fascinating opportunities to perform complex tasks beyond the capabilities of individual machines. Just as a swarm of ants collectively moves a large object, similar functions can emerge within a group of robots through individual strategies based on local sensing. However, realizing collective functions with individually controlled microrobots is particularly challenging due to their micrometer size, large number of degrees of freedom, strong thermal noise relative to the propulsion speed, complex physical coupling between neighboring microrobots, and surface collisions. Here, we implement Multi-Agent Reinforcement Learning (MARL) to generate a control strategy for up to 200 microrobots whose motions are individually controlled by laser spots. During the learning process, we employ so-called counterfactual rewards that automatically assign credit to the individual microrobots, which allows for fast and unbiased training. With the help of this efficient reward scheme, swarm microrobots learn to collectively transport a large cargo object to an arbitrary position and orientation, similar to ant swarms. We demonstrate that this flexible and versatile swarm robotic system is robust to variations in group size, the presence of malfunctioning units, and environmental noise. Such control strategies can potentially enable complex and automated assembly of mobile micromachines, programmable drug delivery capsules, and other advanced lab-on-a-chip applications., Comment: 40 pages, 15 figures

Optimizing the energy efficiency of driving processes provides valuable insights into the underlying physics and is of crucial importance for numerous applications, from biological processes to the design of machines and robots. Knowledge of optimal driving protocols is particularly valuable at the microscale, where energy supply is often limited. Here we investigate experimentally and theoretically the paradigmatic optimization problem of moving a potential carrying a load through a fluid, in a finite time and over a given distance, in such a way that the required work is minimal. An important step towards more realistic systems is the consideration of memory effects in the surrounding fluid, which are ubiquitous in real-world applications. Therefore, our experiments were performed in viscous and viscoelastic media, which are typical environments for synthetic and biological processes on the microscale. Despite marked differences between the protocols in both fluids, we find that the optimal control protocol and the corresponding average particle trajectory always obey a time-reversal symmetry. We show that this symmetry, which surprisingly applies here to a class of processes far from thermal equilibrium, holds universally for various systems, including active, granular, and long-range correlated media in their linear regimes. The uncovered symmetry provides a rigorous and versatile criterion for optimal control that greatly facilitates the search for energy-efficient transport strategies in a wide range of systems. Using a machine learning algorithm, we demonstrate that the algorithmic exploitation of time-reversal symmetry can significantly enhance the performance of numerical optimization algorithms., Comment: 16 pages with 10 figures, accepted for publication in PRX

We investigate the structural and dynamic properties of active Brownian particles (APs) confined within a soft annulus-shaped channel. Depending on the strength of the confinement and the P\'eclet number, we observe a novel re-entrant behavior that is not present in unconfined systems. Our findings are substantiated by numerical simulations and analytical considerations, revealing that this behavior arises from the strong coupling between the P\'eclet number and the effective confining dimensionality of the APs. Beyond highlighting the important influence of soft boundaries on APs, our research holds significance for future applications of micro-robotic systems.

When a colloidal probe is forced through a viscoelastic fluid which is characterized by a long stress-relaxation time, the fluid is excited out of equilibrium. This is leading to a number of interesting effects including a non-trivial recoil of the probe when the driving force is removed. Here, we experimentally and theoretically investigate the transient recoil dynamics of non-spherical particles, i.e., colloidal dumbbells. In addition to a translational recoil of the dumbbells, we also find a pronounced angular reorientation which results from the relaxation of the surrounding fluid. Our findings are in good agreement with a Langevin description based on the symmetries of a director (dumbbell) as well as a microscopic bath-rod model. Remarkably, we find a frustrated state with amplified fluctuations when the dumbbell is oriented perpendicular to the direction of driving. Our results demonstrate the complex behavior of non-spherical objects within a relaxing environment which are of immediate interest for the motion of externally but also self-driven asymmetric objects in viscoelastic fluids., Comment: 10 pages, 6 figures

Multi-Agent Reinforcement Learning (MARL) is a promising candidate for realizing efficient control of microscopic particles, of which micro-robots are a subset. However, the microscopic particles' environment presents unique challenges, such as Brownian motion at sufficiently small length-scales. In this work, we explore the role of temperature in the emergence and efficacy of strategies in MARL systems using particle-based Langevin molecular dynamics simulations as a realistic representation of micro-scale environments. To this end, we perform experiments on two different multi-agent tasks in microscopic environments at different temperatures, detecting the source of a concentration gradient and rotation of a rod. We find that at higher temperatures, the RL agents identify new strategies for achieving these tasks, highlighting the importance of understanding this regime and providing insight into optimal training strategies for bridging the generalization gap between simulation and reality. We also introduce a novel Python package for studying microscopic agents using reinforcement learning (RL) to accompany our results., Comment: 12 pages, 5 figures

Spinning objects which move through air or liquids experience a Magnus force. This effect is commonly exploited in ball sports but also of considerable importance for applications and fundamental science. Opposed to large objects where Magnus forces are strong, they are only weak at small scales and eventually vanish for overdamped micron-sized particles in simple liquids. Here we demonstrate an about one-million-fold enhanced Magnus force of spinning colloids in viscoelastic fluids. Such fluids are characterized by a time-delayed response to external perturbations which causes a deformation of the fluidic network around the moving particle. When the particle additionally spins, the deformation field becomes misaligned relative to the particle's moving direction, leading to a force perpendicular to the direction of travel and the spinning axis. The presence of strongly enhanced memory-induced Magnus forces at microscales opens novel applications for particle sorting and steering, the creation and visualization of anomalous flows and more., Comment: 20 pages, 5 figures

The understanding of friction at nano-scales, ruled by the regular arrangement of atoms, is surprisingly incomplete. Here we provide a unified understanding by studying the interlocking potential energy of two infinite contacting surfaces with arbitrary lattice symmetries, and extending it to finite contacts. We categorize, based purely on geometrical features, all possible contacts into three different types: a structurally lubric contact where the monolayer can move isotropically without friction, a corrugated and strongly interlocked contact, and a newly discovered directionally structurally lubric contact where the layer can move frictionlessly along one specific direction and retains finite friction along all other directions. This novel category is energetically stable against rotational perturbations and provides extreme friction anisotropy. The finite-size analysis shows that our categorization applies to a wide range of technologically relevant materials in contact, from adsorbates on crystal surfaces to layered two-dimensional materials and colloidal monolayers.

The motion of a colloidal probe in a viscoelastic fluid is described by friction or mobility, depending on whether the probe is moving with a velocity or feeling a force. While the Einstein relation describes an inverse relationship valid for Newtonian solvents, both concepts are generalized to time-dependent memory kernels in viscoelastic fluids. We theoretically and experimentally investigate their relation by considering two observables: the recoil after releasing a probe that was moved through the fluid and the equilibrium mean squared displacement (MSD). Applying concepts of linear response theory, we generalize Einstein's relation and thereby relate recoil and MSD, which both provide access to the mobility kernel. With increasing concentration, however, MSD and recoil show distinct behaviors, rooted in different behaviors of the two kernels. Using two theoretical models, a linear two-bath particle model and hard spheres treated by mode-coupling theory, we find a Volterra relation between the two kernels, explaining differing timescales in friction and mobility kernels under variation of concentration., Comment: 12 pages, 7 figures

Despite their technological relevance, a full microscopic understanding of glasses is still lacking. This applies even more to their surfaces whose properties largely differ from that of the bulk material. Here, we experimentally investigate the surface of a two-dimensional glass as a function of the effective temperature. To yield a free surface, we use an attractive colloidal suspension of micron-sized particles interacting via tunable critical Casimir forces. Similar to crystals, we observe surface melting of the glass, i.e., the formation of a liquid film at the surface well below the glass temperature. Underneath, however, we find an unexpected region with bulk density but much faster particle dynamics. It results from connected clusters of highly mobile particles which are formed near the surface and deeply percolate into the underlying material. Because its thickness can reach several tens of particle diameters, this layer may elucidate the poorly understood properties of thin glassy films which find use in many technical applications, Comment: accepted with Nature Communications

We experimentally determine the force exerted by a bath of active particles onto a passive probe as a function of its distance to a wall and compare it to the measured averaged density distribution of active particles around the probe. Within the framework of an active stress, we demonstrate that both quantities are - up to a factor - directly related to each other. Our results are in excellent agreement with a minimal numerical model and confirm a general and system-independent relationship between the microstructure of active particles and transmitted forces., Comment: Accepted for the publication in Physical Review Letters, see https://journals.aps.org/prl/accepted/8b078YcbZb419475998267a260895e617cab4a01e

The sliding motion of objects is typically governed by their friction with the underlying surface. Compared to translational friction, however, rotational friction has received much less attention. Here, we experimentally and theoretically study the rotational depinning and orientational dynamics of two-dimensional colloidal crystalline clusters on periodically corrugated surfaces in the presence of magnetically exerted torques. We demonstrate that the traversing of locally commensurate areas of the moir\'e pattern through the edges of clusters, which is hindered by potential barriers during cluster rotation, controls its rotational depinning. The experimentally measured depinning thresholds as a function of cluster size strikingly collapse onto a universal theoretical curve which predicts the possibility of a superlow-static-torque state for large clusters. We further reveal a cluster-size-independent rotation-translation depinning transition when lattice-matched clusters are driven jointly by a torque and a force. Our work provides guidelines to the design of nanomechanical devices that involve rotational motions on atomic surfaces.

We experimentally investigate the recoil dynamics of a colloidal probe particle after shearing it with constant velocity through a viscoelastic fluid. The recoil displays two distinct timescales which are in excellent agreement with a microscopic model built on a particle being linked to two bath particles by harmonic springs. This model yields analytical expressions which reproduce all experimental protocols, including additional waiting periods before particle release. Notably, two sets of timescales appear, corresponding to reciprocal and nonreciprocal eigenmodes of the model., Comment: 5 pages, 4 figures

We investigate the hopping dynamics of a colloidal particle across a potential barrier and within a viscoelastic, i.e., non-Markovian bath, and report two clearly separated time scales in the corresponding waiting time distributions. While the longer time scale exponentially depends on the barrier height, the shorter one is similar to the relaxation time of the fluid. This short time scale is a signature of the storage and release of elastic energy inside the bath, that strongly increases the hopping rate. Our results are in excellent agreement with numerical simulations of a simple Maxwell model., Comment: 5 pages, 5 figures

Understanding the drift motion and dynamical locking of crystalline clusters on patterned substrates is important for the diffusion and manipulation of nano- and micro-scale objects on surfaces. In a previous work, we studied the orientational and directional locking of colloidal two-dimensional clusters with triangular structure driven across a triangular substrate lattice. Here we show with experiments and simulations that such locking features arise for clusters with arbitrary lattice structure sliding across arbitrary regular substrates. Similar to triangular-triangular contacts, orientational and directional locking are strongly correlated via the real- and reciprocal-space moir\'e patterns of the contacting surfaces. Due to the different symmetries of the surfaces in contact, however the relation between the locking orientation and the locking direction becomes more complicated compared to interfaces composed of identical lattice symmetries. We provide a generalized formalism which describes the relation between the locking orientation and locking direction with arbitrary lattice symmetries., Comment: Published in Physical Review E. 17 pages and 10 figures including supplementary information

We perform micro-rheological experiments with a colloidal bead driven through a viscoelastic worm-like micellar fluid and observe two distinctive shear thinning regimes, each of them displaying a Newtonian-like plateau. The shear thinning behavior at larger velocities is in qualitative agreement with macroscopic rheological experiments. The second process, observed at Weissenberg numbers as small as a few percent, appears to have no analog in macro rheological findings. A simple model introduced earlier captures the observed behavior, and implies that the two shear thinning processes correspond to two different length scales in the fluid. This model also reproduces oscillations which have been observed in this system previously. While the system under macro-shear seems to be near equilibrium for shear rates in the regime of the intermediate Newtonian-like plateau, the one under micro-shear is thus still far from it. The analysis suggests the existence of a length scale of a few micrometres, the nature of which remains elusive., Comment: 7 pages, 5 figures

Recent experiments show a strong rotational-diffusion enhancement for self-propelled microrheological probes in colloidal glasses. Here, we provide microscopic understanding using simulations with a frictional probe-medium coupling that converts active translation into rotation. Diffusive enhancement emerges from the medium's disordered structure and peaks at a second-order transition in the number of contacts. Our results reproduce the salient features of the colloidal glass experiment and support an effective description that is applicable to a broader class of viscoelastic suspensions., Comment: 5 pages, 4 figures

Activity and autonomous motion are fundamental in living and engineering systems. This has stimulated the new field of active matter in recent years, which focuses on the physical aspects of propulsion mechanisms, and on motility-induced emergent collective behavior of a larger number of identical agents. The scale of agents ranges from nanomotors and microswimmers, to cells, fish, birds, and people. Inspired by biological microswimmers, various designs of autonomous synthetic nano- and micromachines have been proposed. Such machines provide the basis for multifunctional, highly responsive, intelligent (artificial) active materials, which exhibit emergent behavior and the ability to perform tasks in response to external stimuli. A major challenge for understanding and designing active matter is their inherent nonequilibrium nature due to persistent energy consumption, which invalidates equilibrium concepts such as free energy, detailed balance, and time-reversal symmetry. Unraveling, predicting, and controlling the behavior of active matter is a truly interdisciplinary endeavor at the interface of biology, chemistry, ecology, engineering, mathematics, and physics. The vast complexity of phenomena and mechanisms involved in the self-organization and dynamics of motile active matter comprises a major challenge. Hence, to advance, and eventually reach a comprehensive understanding, this important research area requires a concerted, synergetic approach of the various disciplines.

A colloidal particle is a prominent example of a stochastic system, and, if suspended in a simple viscous liquid, very closely resembles the case of an ideal random walker. A variety of new phenomena have been observed when such colloid is suspended in a viscoelastic fluid instead, for example pronounced nonlinear responses when the viscoelastic bath is driven out of equilibrium. Here, using a micron-sized particle in a micellar solution, we investigate in detail, how these nonlinear bath properties leave their fingerprints already in equilibrium measurements, for the cases where the particle is unconfined or trapped in a harmonic potential. We find that the coefficients in an effective linear (generalized) Langevin equation show intriguing inter-dependencies, which can be shown to arise only in nonlinear baths: For example, the friction memory can depend on the external potential that acts only on the colloidal particle (as recently noted in simulations of molecular tracers in water in Phys. Rev. X 7, 041065 (2017)), it can depend on the mass of the colloid, or, in an overdamped setting, on its bare diffusivity. These inter-dependencies, caused by so-called fluctuation renormalizations, are seen in an exact small time expansion of the friction memory based on microscopic starting points. Using linear response theory, they can be interpreted in terms of microrheological modes of force-controlled or velocity-controlled driving. The mentioned nonlinear markers are observed in our experiments, which are astonishingly well reproduced by a stochastic Prandtl-Tomlinson model mimicking the nonlinear viscoelastic bath. The pronounced nonlinearities seen in our experiments together with the good understanding in a simple theoretical model make this system a promising candidate for exploration of colloidal motion in nonlinear stochastic environments., Comment: 14 pages, 12 figures changes v2: minor changes regarding abstract, and Fig. 11

We experimentally study the dynamics of active particles (APs) in a viscoelastic fluid under various geometrical constraints such as flat walls, spherical obstacles and cylindrical cavities. We observe that the main effect of the confined viscoelastic fluid is to induce an effective repulsion on the APs when moving close to a rigid surface, which depends on the incident angle, the surface curvature and the particle activity. Additionally, the geometrical confinement imposes an asymmetry to their movement, which leads to strong hydrodynamic torques, thus resulting in detention times on the wall surface orders of magnitude shorter than suggested by thermal diffusion. We show that such viscoelasticity-mediated interactions have striking consequences on the behavior of multi-AP systems strongly confined in a circular pore. In particular, these systems exhibit a transition from liquid-like behavior to a highly ordered state upon increasing their activity. A further increase in activity melts the order, thus leading to a re-entrant liquid-like behavior., Comment: 12 figures, New Journal of Physics (accepted August 2019)

Combining experiments and computer simulations, we use a spatially periodic and flashing light-field to direct the motion of phototactic active colloids. Here, the colloids self-organize into a density spike pattern, which resembles a shock wave and propagates over long distances, almost without dispersing. The underlying mechanism involves a synchronization of the colloids with the light-field, so that particles see the same intensity gradient each time the light-pattern is switched on, but no gradient in between (for example). This creates a pulsating transport whose strength and direction can be controlled via the flashing protocol and the self-propulsion speed of the colloids. Our results might be useful for drug delivery applications and can be used to segregate active colloids by their speed., Comment: appears in Soft Matter

We numerically and experimentally study the segregation dynamics in a binary mixture of microswimmers which move on a two-dimensional substrate in a static periodic triangular-like light intensity field. The motility of the active particles is proportional to the imposed light intensity and they possess a motility contrast, i.e., the prefactor depends on the species. In addition, the active particles also experience a torque aligning their motion towards the direction of the negative intensity gradient. We find a segregation of active particles near the intensity minima where typically one species is localized close to the minimum and the other one is centered around in an outer shell. For a very strong aligning torque, there is an exact mapping onto an equilibrium system in an effective external potential that is minimal at the intensity minima. This external potential is similar to (height-dependent) gravity, such that one can define effective `heaviness' of the self-propelled particles. In analogy to shaken granular matter in gravity, we define a `colloidal Brazil nut effect' if the heavier particles are floating on top of the lighter ones. Using extensive Brownian dynamics simulations, we identify system parameters for the active colloidal Brazil nut effect to occur and explain it based on a generalized Archimedes' principle within the effective equilibrium model: heavy particles are levitated in a dense fluid of lighter particles if their effective mass density is lower than that of the surrounding fluid. We also perform real-space experiments on light-activated self-propelled colloidal mixtures which confirm the theoretical predictions., Comment: 10 pages, 5 figures, JCP Special Topic on Chemical Physics of Active Matter

We experimentally study the motion of light-activated colloidal microswimmers in a viscoelastic fluid. We find that, in such a non-Newtonian environment, the active colloids undergo an unexpected transition from enhanced angular diffusion to persistent rotational motion above a critical propulsion speed, despite their spherical shape and stiffness. We observe that, in contrast to chiral asymmetric microswimmers, the resulting circular orbits can spontaneously reverse their sense of rotation and exhibit an angular velocity and a radius of curvature that non-linearly depend on the propulsion speed. By means of a minimal non-Markovian Langevin model for active Brownian motion, we show that these non-equilibrium effects emerge from the delayed response of the fluid with respect to the self-propulsion of the particle without counterpart in Newtonian fluids., Comment: 5 pages, 3 Figures, Phys. Rev. Lett. (accepted 20 July 2018)

Microscopic particles suspended in liquids are the prime example of an overdamped system because viscous forces dominate over inertial effects. Apart from their use as model systems, they receive considerable attention as sensitive probes from which forces on molecular scales can be inferred. The interpretation of such experiments rests on the assumption, that, even if the particles are driven, the liquid remains in equilibrium, and all modes are overdamped. Here, we experimentally demonstrate that this is no longer valid when a particle is forced through a viscoelastic fluid. Even at small driving velocities where Stokes law remains valid, we observe particle oscillations with periods up to several tens of seconds. We attribute these to non-equilibrium fluctuations of the fluid, which are excited by the particle's motion. The observed oscillatory dynamics is in quantitative agreement with an overdamped Langevin equation with negative friction-memory term and which is equivalent to the motion of a stochastically driven underdamped oscillator. This fundamentally new oscillatory mode will largely expand the variety of model systems but has also considerable implications on how molecular forces are determined by colloidal probe particles under natural viscoelastic conditions., Comment: Accepted with Nat. Comm. (originally submitted version, complying with Nature policies). 10 pages, 8 figures

Run-and-tumble (RNT) motion is a prominent locomotion strategy employed by many living microorganisms. It is characterized by straight swimming intervals (runs), which are interrupted by sudden reorientation events (tumbles). In contrast, directional changes of synthetic microswimmers (active particles, APs) are caused by rotational diffusion, which is superimposed with their translational motion and thus leads to rather continuous and slow particle reorientations. Here we demonstrate that active particles can also perform a swimming motion where translational and orientational changes are disentangled, similar to RNT. In our system, such motion is realized by a viscoelastic solvent and a periodic modulation of the self-propulsion velocity. Experimentally, this is achieved using light-activated Janus colloids, which are illuminated by a time-dependent laser field. We observe a strong enhancement of the effective translational and rotational motion when the modulation time is comparable to the relaxation time of the viscoelastic fluid. Our findings are explained by the relaxation of the elastic stress, which builds up during the self-propulsion, and is suddenly released when the activity is turned off. In addition to a better understanding of active motion in viscoelastic surroundings, our results may suggest novel steering strategies for synthetic microswimmers in complex environments., Comment: 6 figures, New Journal of Physics accepted

Microorganisms are able to overcome the thermal randomness of their surroundings by harvesting energy to navigate in viscous fluid environments. In a similar manner, synthetic colloidal microswimmers are capable of mimicking complex biolocomotion by means of simple self-propulsion mechanisms. Although experimentally the speed of active particles can be controlled by e.g. self-generated chemical and thermal gradients, an in-situ change of swimming direction remains a challenge. In this work, we study self-propulsion of half-coated spherical colloids in critical binary mixtures and show that the coupling of local body forces, induced by laser illumination, and the wetting properties of the colloid, can be used to finely tune both the colloid's swimming speed and its directionality. We experimentally and numerically demonstrate that the direction of motion can be reversibly switched by means of the size and shape of the droplet(s) nucleated around the colloid, depending on the particle radius and the fluid's ambient temperature. Moreover, the aforementioned features enable the possibility to realize both negative and positive phototaxis in light intensity gradients. Our results can be extended to other types of half-coated microswimmers, provided that both of their hemispheres are selectively made active but with distinct physical properties., Comment: 12 pages, 5 figures. Scientific Reports (Received: 04 August 2017, accepted: 04 October 2017, published online: 02 November 2017)

Many microorganisms, with phytoplankton and zooplankton as prominent examples, display phototactic behaviour, that is, the ability to perform directed motion within a light gradient. Here we experimentally demonstrate that sensing of light gradients can also be achieved in a system of synthetic photo-activated microparticles being exposed to an inhomogeneous laser field. We observe a strong orientational response of the particles because of diffusiophoretic torques, which in combination with an intensity-dependent particle motility eventually leads to phototaxis. Since the aligning torques saturate at high gradients, a strongly rectified particle motion is found even in periodic asymmetric intensity landscapes. Our results are in excellent agreement with numerical simulations of a minimal model and should similarly apply to other particle propulsion mechanisms. Because light fields can be easily adjusted in space and time, this also allows to extend our approach to dynamical environments., Comment: 10 pages, 7 figures

We study the second order response functions of a colloidal particle being subjected to an anharmonic potential. Contrary to typical response measurements which require an external perturbation, here we experimentally confirm a recently developed approach where the system's susceptibilities up to second order are obtained from the particle's equilibrium trajectory [PCCP $\mathrm{{\bf 17}}$, 6653 (2015)]. The measured susceptibilities are in quantitative agreement with those obtained from the response to an external perturbation., Comment: 4 figures

We experimentally and numerically study the dependence of different navigation strategies regarding the effectivity of an active particle to reach a predefined target area. As the only control parameter, we vary the particle's propulsion velocity depending on its position and orientation relative to the target site. By introducing different figures of merit, e.g. the time to target or the total consumed propulsion energy, we are able to quantify and compare the efficiency of different strategies. Our results suggest, that each strategy to navigate towards a target, has its strengths and weaknesses and none of them outperforms the other in all regards. Accordingly, the choice of an ideal navigation strategy will strongly depend on the specific conditions and the figure of merit which should be optimized.

We experimentally investigate active motion of spherical Janus colloidal particles in a viscoelastic fluid. Self-propulsion is achieved by a local concentration gradient of a critical polymer mixture which is imposed by laser illumination. Even in the regime where the fluid's viscosity is independent from the deformation rate induced by the particle, we find a remarkable increase of up to two orders of magnitude of the rotational diffusion with increasing particle velocity, which can be phenomenologically described by an effective rotational diffusion coefficient dependent on the Weissenberg number. We show that this effect gives rise to a highly anisotropic response of microswimmers in viscoelastic media to external forces depending on its orientation., Comment: 5 pages, 4 figures, Physical Review Letters (accepted)

Differently from passive Brownian particles, active particles, also known as self-propelled Brownian particles or microswimmers and nanoswimmers, are capable of taking up energy from their environment and converting it into directed motion. Because of this constant flow of energy, their behavior can only be explained and understood within the framework of nonequilibrium physics. In the biological realm, many cells perform directed motion, for example, as a way to browse for nutrients or to avoid toxins. Inspired by these motile microorganisms, researchers have been developing artificial particles that feature similar swimming behaviors based on different mechanisms; these manmade micro- and nanomachines hold a great potential as autonomous agents for healthcare, sustainability, and security applications. With a focus on the basic physical features of the interactions of self-propelled Brownian particles with a crowded and complex environment, this comprehensive review will put the reader at the very forefront of the field, providing a guided tour through its basic principles, the development of artificial self-propelling micro- and nanoparticles, and their application to the study of nonequilibrium phenomena, as well as the open challenges that the field is currently facing., Comment: 57 pages, 33 figures

We experimentally study the transient motion of a colloidal particle actively dragged by an optical trap through different viscoelastic fluids (wormlike micelles, polymer solutions, and entangled $\lambda$-phage DNA). We observe that, after sudden removal of the moving trap, the particle recoils due to the recovery of the deformed fluid microstructure. We find that the transient dynamics of the particle proceeds via a double exponential relaxation, whose relaxation times remain independent of the initial particle velocity whereas their amplitudes strongly depend on it. While the fastest relaxation mirrors the viscous damping of the particle by the solvent, the slow relaxation results from the recovery of the strained viscoelastic matrix. We show that this transient information, which has no counterpart in Newtonian fluids, can be exploited to investigate linear and nonlinear rheological properties of the embedding fluid, thus providing a novel method to perform transient rheology at the micron-scale., Comment: 19 pages, 7 Figures, submitted to New Journal of Physics

We experimentally investigate the distribution of the non-equilibrium work done by an external force on a mesoscopic system with many coupled degrees of freedom: a colloidal monolayer mechanically driven across a periodic light field. Since this system mimics the spatiotemporal dynamics of a crystalline surface moving on a corrugated substrate, our results show general properties of the non-equilibrium work distribution of atomically flat surfaces undergoing friction. We address the role of several parameters which can influence the shape of the work distribution, e.g. the number of particles used to locally probe the system and the time interval to measure the work. We find that, when tuning the control parameters to induce particle depinning from the substrate, there is an abrupt change of the shape of the work distribution. While in the completely static and sliding friction regimes the work distribution is Gaussian, non-Gaussian tails show up due to the spatiotemporal heterogeneity of the particle dynamics during the transition between these two regimes., Comment: Submitted to New J. Phys

We study the thermophoretic motion of a micron sized single colloidal particle in front of a flat wall by evanescent light scattering. To quantify thermophoretic effects we analyse the nonequilibrium steady state (NESS) of the particle in a constant temperature gradient perpendicular to the confining walls. We propose to determine thermophoretic forces from a 'generalized potential' associated with the probability distribution of the particle position in the NESS. Experimentally we demonstrate, how this spatial probability distribution is measured and how thermophoretic forces can be extracted with 10 fN resolution. By varying temperature gradient and ambient temperature, the temperature dependence of Soret coefficient $S_T(T)$ is determined for $r = 2.5 \mu m$ polystyrene and $r = 1.35 \mu m$ melamine particles. The functional form of $S_T(T)$ is in good agreement with findings for smaller colloids. In addition, we measure and discuss hydrodynamic effects in the confined geometry. The theoretical and experimental technique proposed here extends thermophoresis measurements to so far inaccessible particle sizes and particle solvent combinations.

Bulk rheological properties of viscoelastic fluids have been extensively studied in macroscopic shearing geometries. However, little is known when an active microscopic probe is used to locally perturb them far from the linear-response regime. Using a colloidal particle dragged periodically by scanning optical tweezers through a viscoelastic fluid, we investigate both, its linear and nonlinear microrheological response. With increasing particle velocity, we observe a transition from constant viscosity to a thinning regime, where the drag force on the probe becomes a nonlinear function of the particle velocity. We demonstrate that this transition is only determined by the ratio of the fluid's equilibrium relaxation time and the period of the driving., Comment: 6 pages, 5 figures

The self-propulsion of artificial and biological microswimmers (i.e., active colloidal particles) has often been modelled by using a force and a torque entering into the overdamped equations for the Brownian motion of passive particles. This seemingly contradicts the fact that a swimmer is force-free and torque-free, i.e., that the net force and torque on the particle vanish. Using different models for mechanical and diffusiophoretic self-propulsion, we demonstrate here that the equations of motion of microswimmers can be mapped onto those of passive particles with the shape-dependent grand resistance matrix and formally external effective forces and torques. This is consistent with experimental findings on the circular motion of artificial asymmetric microswimmers driven by self-diffusiophoresis. The concept of effective self-propulsion forces and torques significantly facilitates the understanding of the swimming paths, e.g., for a microswimmer under gravity. However, this concept has its limitations when the self-propulsion mechanism of a swimmer is disturbed either by another particle in its close vicinity or by interactions with obstacles, such as a wall., Comment: 19 pages, 2 figures

Many motile microorganisms adjust their swimming motion relative to the gravitational field and thus counteract sedimentation to the ground. This gravitactic behavior is often the result of an inhomogeneous mass distribution which aligns the microorganism similar to a buoy. However, it has been suggested that gravitaxis can also result from a geometric fore-rear asymmetry, typical for many self-propelling organisms. Despite several attempts, no conclusive evidence for such an asymmetry-induced gravitactic motion exists. Here, we study the motion of asymmetric self-propelled colloidal particles which have a homogeneous mass density and a well-defined shape. In experiments and by theoretical modeling we demonstrate that a shape anisotropy alone is sufficient to induce gravitactic motion with either preferential upward or downward swimming. In addition, also trochoid-like trajectories transversal to the direction of gravity are observed., Comment: 9 pages, 5 figures, 1 table

In a Comment [Phys. Rev. Lett. 113, 029801 (2014)] on our Letter on self-propelled asymmetric particles [Phys. Rev. Lett. 110, 198302 (2013); arXiv:1302.5787], Felderhof claims that our theory based on Langevin equations would be conceptually wrong. In this Reply we show that our theory is appropriate, consistent, and physically justified., Comment: 2 pages