P Phi SS: An Open-Source Experimental Setup for Real-World Implementation of Swarm Robotic Systems in Long-Term Scenarios

Arvin F., Krajnik T., TURGUT A. E.

5th International Workshop on Modelling and Simulation for Autonomous Systems (MESAS), Prague, Czech Republic, 17 - 19 October 2018, vol.11472, pp.351-364 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 11472
  • Doi Number: 10.1007/978-3-030-14984-0_26
  • City: Prague
  • Country: Czech Republic
  • Page Numbers: pp.351-364
  • Keywords: Open-source, Swarm robotics, Artificial pheromone, Perpetual robot swarm, Tracking system, CUE-BASED AGGREGATION, PHEROMONE COMMUNICATION, MACROSCOPIC MODEL, VISION SYSTEM, LOCALIZATION, BEHAVIOR
  • Middle East Technical University Affiliated: Yes


Swarm robotics is a relatively new research field that employs multiple robots (tens, hundreds or even thousands) that collaborate on complex tasks. There are several issues which limit the realworld application of swarm robotic scenarios, e.g. autonomy time, communication methods, and cost of commercialised robots. We present a platform, which aims to overcome the aforementioned limitations while using off-the-shelf components and freely-available software. The platform combines (i) a versatile open-hardware micro-robot capable of local and global communication, (ii) commercially-available wireless charging modules which provide virtually unlimited robot operation time, (iii) open-source marker-based robot tracking system for automated experiment evaluation, (iv) and a LCD display or a light projector to simulate environmental cues and pheromone communication. To demonstrate the versatility of the system, we present several scenarios, where our system was used.