Comparison of a real kilobot robot implementation with its computer simulation focussing on target-searching algorithms
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Publication date
2018
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04B - Conference paper
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2018 International Conference on Intelligent Autonomous Systems (ICoIAS’2018)
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Pages / Duration
160-164
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IEEE
Place of publication / Event location
New York
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Abstract
This paper presents the functionality and quality of the implementation of a search- and target-surrounding swarm robotic algorithm, which was developed and tested in the simulator V-REP, on actually running Kilobots. Ten Kilobots were used for the experiment where one Kilobot acts as target and nine Kilobots act as searchers. The algorithm allows the searchers to disperse to find the target, to avoid collisions with other searchers, to orbit other searchers, which are closer to the target, and to finally surround the target, once it is found. The results of the implementation using actual, real swarm robots are compared with the results of the computer simulation. Differences between simulation and real robot implementation are discussed. In particular, issues associated with the limitation in the Kilobots’ communication capability and their implications on the algorithm are investigated.
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2018 International Conference on Intelligent Autonomous Systems (ICoIAS’2018)
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01.03.2018
Conference end date
03.03.2018
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English
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Yes
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Published
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Closed
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Citation
Zhong, J., Umamaheshwarappa, R. R., Dornberger, R., & Hanne, T. (2018). Comparison of a real kilobot robot implementation with its computer simulation focussing on target-searching algorithms. 2018 International Conference on Intelligent Autonomous Systems (ICoIAS’2018), 160–164. https://doi.org/10.1109/ICOIAS.2018.8494196