Citation

In scientific manuscripts that are based on simulations offered by this pluging, please cite the paper:

C. Pinciroli, M.S. Talamali, A. Reina, J.A.R. Marshall and V.Trianni. Simulating Kilobots within ARGoS: models and experimental validation. In Proceedings of 11th International Conference on Swarm Intelligence (ANTS), LNCS 11172: 176-187, Springer, Cham, 2018. doi: 10.1007/978-3-030-00533-7_14

Compiling the code

Make sure you have ARGoS >= 3.0.0-beta52 installed!

Commands:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ../src
make
sudo make install

Lab 0

argos3 -c src/examples/experiments/kilobot_blinky.argos

Lab 1.2

argos3 -c src/examples/experiments/kilobot_simple_movement.argos

Lab 1.3

argos3 -c src/examples/experiments/kilobot_nonblocked_movement.argos

Lab 2.1-2.2

argos3 -c src/examples/experiments/kilobot_speaker_listener.argos

Lab 2.3-2.4

argos3 -c src/examples/experiments/kilobot_speaker_listener_mod.argos

Lab 3

argos3 -c src/examples/experiments/kilobot_disperse.argos

Lab 4

argos3 -c src/examples/experiments/kilobot_orbit.argos

Lab 5

argos3 -c src/examples/experiments/kilobot_move_to_light.argos

Lab 6

argos3 -c src/examples/experiments/kilobot_gradient_simple.argos

Lab 7

argos3 -c src/examples/experiments/kilobot_sync.argos

Differences between Kilombo and ARGoS

Kilombo

• Architecture
  • Single-thread, single process wrapper around kilolib.h
    • Robots must run the same behavior
    • Global variables cannot be used to contain state
• Models
  • Only model offered is the Kilobot
  • Motion is kinematics with simple overlap resolution
    • Robots cannot push other objects
  • Communication neglects obstructions
  • Message drop has uniform probability

ARGoS

• Architecture
  • Multi-thread, multi-process architecture
  • Robots can run different behaviors
  • Global variables can be used to contain state
• Models
  • Models of Kilobot, other robots, boxes, cylinders
    • Motion is full 2D dynamics
    • Robots can push other objects
  • Communication considers obstruction
  • Message drop considers local density