View source for Experiments Source Code

We plan to provide the source code of all experiments and plugins for [[ARK]] (Augmented Reality for Kilobots). Each plugin is composed of the code for the BCS (Base Control Station) and the code for the Kilobot control software.

In the paper of ARK ([https://areina.staff.shef.ac.uk/pdf/reina_RAL2017.pdf IEEE Robotics and Automation Letters]), we show three demos: automatic ID assignment, automatic positioning, and foraging. 

==ARK code for Kilobot's house-keeping routines==

* ID assignment functionality is already included in the ARK main BCS software (available at https://github.com/DiODeProject/KilobotArena)
** the Kilobot control software for ID assignment is: [[:File:AssignIDsBinary.c|AssignIDsBinary.c]]
** the Kilobot control software for ID assignment (working both for numbers in base 2 and base 3, communicated respectively with 2 or 3 colours): [[:File:AssignIDsBase2and3.c|AssignIDsBase2and3.c]]
** video tutorial: https://youtu.be/nc_DHUcX6Rg

* Kilobots automatic calibration functionality is already included in the ARK main BCS software (available at https://github.com/DiODeProject/KilobotArena)
** the Kilobot control software for Kilobots automatic calibration is [[:File:ARKalib.c|ARKalib.c]]
** video tutorial: https://youtu.be/fenkr9Dov0s

* Automatic positioning code
** BCS code: [[:File:DirectNavigation.zip|DirectNavigation.zip]]
** Kilobot control software code: [[:File:DirectNavigation.c|DirectNavigation.c]]

* ARK experiment code to store the image frames and use them for offline tests
** BCS code: [[:File:RecordARKframes.zip|RecordARKframes.zip]]

==Source code of ARK-based experiments==

* Foraging demo (used in [http://doi.org/10.1109/LRA.2017.2700059 Reina et al. RA-L 2017])
** BCS code: [[:File:ForagingDemoC.zip|ForagingDemoC.zip]]
** Kilobot control software code: [[:File:DemoC kilobot.c|DemoC_kilobot.c]]

* Virtual-pheromone collective foraging experiment
** The code of the paper A. Font Llenas, M.S. Talamali, X. Xu, J.A.R. Marshall, and A. Reina. used in [https://doi.org/10.1007/978-3-030-00533-7_11 '''Quality-sensitive foraging by a robot swarm through virtual pheromone trails.'''] In ''Proceedings of 11th International Conference on Swarm Intelligence (ANTS 2018)'', LNCS 11172. Springer 2018
** source code available here: https://github.com/DiODeProject/PheromoneKilobot
** videos: http://diode.group.shef.ac.uk/FontLlenas2018.html

* Virtual-pheromone collective foraging experiment (extended and improved)
** The code of the paper M.S. Talamali, T. Bose, M. Haire, X. Xu, J.A.R. Marshall, A. Reina. [https://doi.org/10.1007/s11721-019-00176-9 '''Sophisticated Collective Foraging with Minimalist Agents: A Swarm Robotics Test''']. ''Swarm Intelligence'' 14(1):25-56, 2020.
** source code available here: https://github.com/DiODeProject/PheromoneKilobotSwarmIntell
** videos: https://www.youtube.com/playlist?list=PLCGKY9OHLZwMaGeB6cxVfxmHwhBFqKF7a

* Collective decision making (best-of-n)
** The code of the paper M.S. Talamali, A. Saha, J.A.R. Marshall, A. Reina. (coming soon)
** source code available here: https://github.com/DiODeProject/AdaptationStudy
** videos: (coming soon)