Gathering Simulation of Real Robot Swarm

Original scientific paper This article deals with simulations of gathering problems using NXT robots. These robots are real mobile robots and gather synchronously, with no global navigation and communication and only limited visibility. In the first part I want to demonstrate that by increasing the capabilities of those robots that have poor communication and navigation abilities, they can be made suitable for simulating complex gathering methods. The gathering methods of robot swarms and robot teams have been an intensively investigated area of artificial intelligence. Several researchers have made theoretical algorithms for the solution of gathering problems but they have only used mathematical or robot simulators to test their ideas. In the second part the article discusses how after slightly modifying the Ando-algorithm and adapting it to real mobile robots, in the end, I could test the method not only with the help of mathematical simulator but also with real robots.