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 (IEEE Robotics and Automation Letters), we show three demos: automatic ID assignment, automatic positioning, and foraging.

Download the ARK Demos experiments' code

• 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: 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): AssignIDsBase2and3.c

• Automatic positioning code
  • BCS code: DirectNavigation.zip
  • Kilobot control software code: DirectNavigation.c

• Foraging demo code
  • BCS code: ForagingDemoC.zip
  • Kilobot control software code: DemoC_kilobot.c

• ARK experiment code to store the image frames and use them for offline tests
  • BCS code: RecordARKframes.zip

Download the Pheromone experiment code

The code of the paper A. Font Llenas, M.S. Talamali, X. Xu, J.A.R. Marshall, and A. Reina. 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 is available here: https://github.com/DiODeProject/PheromoneKilobot