SymSwarm: A Two-Staged Decentralized Symmetrical Pattern Formation Paradigm for a Swarm of Mobile Robots

By Md. Abrar Istiak, Md Saheed Ullah, Zulqarnain Bin Ashraf, Sudipta Chandra Sarker, Mortuza Minhaj Chowdhury & Sadman Sakib Ahbab. It is accepted in Arabian Journal for Science and Engineering (I.F: 2.9) on August 17, 2023. Paper Link: https://link.springer.com/article/10.1007/s13369-023-08141-9

Requirements

1. Matlab (2014 or above)
2. CoppeliaSim Edu

Getting Started

1. First open the matlab script 'EXPERIMENTATION_threemode.m'
2. Then open the desired vrep scene 'Final _without_obstacles.ttt' or 'Final_with_obstacles.ttt' which is designed with 6 robots. You can change robots initial position anywhere in the scene. Even can change number of robot or environment. (If number is of robot needs to increase then one can copy and paste a robot in the scene to maintain same property. For lesser number one can simply delete any robot.)
3. Press 'Start' button in vrep scene.
4. Now press 'Run' button in vrep script.

N.B: Before running script you should check 'number_of_robots' variable match with vrep scene.

Video Demo

To find out demo of experiments please watch out youtube videos in my channel: Link: https://youtu.be/0V78n2WvhQA (3 robots); https://www.youtube.com/watch?v=GKBhUCIjeAA (7 robots)

Citation

If you find the work useful in your research, please use the following entry for citation.

@article{istiak2023symswarm,
  title={SymSwarm: A Two-Staged Decentralized Symmetrical Pattern Formation Paradigm for a Swarm of Mobile Robots},
  author={Istiak, Md Abrar and Ullah, Md Saheed and Ashraf, Zulqarnain Bin and Sarker, Sudipta Chandra and Chowdhury, Mortuza Minhaj and Ahbab, Sadman Sakib},
  journal={Arabian Journal for Science and Engineering},
  pages={1--18},
  year={2023},
  publisher={Springer}
}