On the Modelling of Bio-Inspired Collective Experiments with Real Robots

This paper describes the implementation and modelling of a biologically-inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated ve times and carried out in a simulated environment (parametric simulation) and with a group of ten Khepera miniature mobile robots. The simulated and experimental results are compared, quanti ed and discussed showing the main points of interest and the weaknesses of both approaches. Moreover, the paper points out similarities and di erences with the results previously published in [10].