On the Modelling of Bio-Inspired Collective Experiments with Real Robots

Abstract

This paper describes the implementation and modelling of a biologically-inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated five times and carried out in a simulated environment (parametric simulation) and with a group of ten Khepera miniature mobile robots. The simulated and experimental results are compared, quantified and discussed showing the main points of interest and the weaknesses of both approaches. Moreover, the paper points out similarities and differences with the results previously published in [10]. 1 Introduction Recently, we have observed a growing interest for the bioinspired approach in the field of collective robotics (see for instance [5]). Bio-inspired collective robotics favours decentralised solutions, i.e. solutions where coordination is not taken over by a special unit using private information sources, or concentrating and redistributing most...