Authors: Ivica Slavkov, Daniel Carrillo-Zapata, Noemí Carranza, Xaver Diego, Fredrik Jansson, Jaap A. Kaandorp, Sabine Hauert, James Sharpe.
Contact: James Sharpe: james.sharpe@embl-barcelona.es
Science Robotics 19 Dec 2018:
Vol. 3, Issue 25, eaau9178
DOI: 10.1126/scirobotics.aau9178
This repository contains the code for the algorithm developed as part of the Swarm Organ Project and additionally supported by the Spanish Ministry of Economy and Competitiveness and the EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE). The code is distributed under the MIT license (see the file LICENSE for details).
The following code has been developed specifically for the kilobots [1]. The file morphogenesis.hex contains the compiled code of our proposed morphogenesis algorithm, and it is directly available to be uploaded to kilobots. The code was compiled using the kilolib library in its state in June, 2018. For local compilation, please refer to https://www.kilobotics.com/ .
The code has been adapted to the simulator Kilombo [2]. Please refer to https://github.com/JIC-CSB/kilombo to install the simulator and/or understand the syntax.
The algorithm assumes the kilobots have been calibrated for left and right motion. Calibration for forward motion is not required.
- M. Rubenstein, C. Ahler, R. Nagpal, Kilobot: A Low Cost Scalable Robot System for Collective Behaviors, Proceedings of 2012 IEEE International Conference on Robotics and Automation, 3293-3298 (2012).
- F. Jansson, M. Hartley, M. Hinsch, I. Slavkov, N. Carranza, T. S. G. Olsson, R. M. Dries, J. H. Grönqvist, A. F. Marée, J. Sharpe, J. A. Kaandorp, V. A. Grieneisen, Kilombo: a Kilobot simulator to enable effective research in swarm robotics, arXiv (2015).
This application uses Open Source components. You can find the source code of their open source projects along with license information below. We acknowledge and are grateful to these developers for their contributions to open source.
Project: Kilombo https://github.com/JIC-CSB/kilombo
Copyright (c) 2015, University of Amsterdam (Amsterdam, The Netherlands), John Innes Centre (Norwich, United Kingdom), Centre for Genomic Regulation (Barcelona, Spain)
License (MIT) https://github.com/JIC-CSB/kilombo/blob/master/LICENSE