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A Bio-inspired Aggregation with Robot Swarm using Real and Simulated Mobile Robots
Abstract and Figures
This paper presents an implementation of a bio-inspired aggregation scenario using swarm robots. The aggregation scenario took inspiration from honeybee's thermotactic behaviour in finding an optimal zone in their comb. To realisation of the aggregation scenario, real and simulated robots with different population sizes were used. Mona, which is an open-source and open-hardware platform was deployed to play the honeybee's role in this scenario. A model of Mona was also generated in Stage for simulation of aggregation scenario with large number of robots. The results of aggregation with real-and simulated-robots showed reliable aggregations and a population dependent swarm performance. Moreover, the results demonstrated a direct correlation between the results observed from the real robot and simulation experiments.
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