ARGroHBotS: An Affordable and Replicable Ground Homogeneous Robot Swarm Testbed

Abstract

Currently, multi-agent mobile robotic testbeds are expensive, inaccessible, and restricted characteristics. Besides, the remotely accessible testbeds have limitations for specific tasks and limited time of implementation. For these reasons, we designed, produced, and implemented a testbed with excellent qualities for everybody. The ARGroHBotS is an inexpensive, robust, accessible, and flexible testing scenario where anyone can test control and motion theories. ARGroHBotS could be adjusted and set up for specific implementations. Due to the ability to modify both the hardware and the software, it is possible to change both the peripherals and the control technique used. This paper describes the design, operation, and advantages of ARGroHBotS. This system is specifically designed as an excellent possibility to produce an institutional platform where multi-agent and swarm algorithms could be implemented and tested. The used components and technologies allow easy replication and low-cost access, regardless of the global location. ARGroHBotS provides excellent advantages to research groups compared with commercial Robots.