Compiling the code

Make sure you have ARGoS >= 3.0.0-beta40 installed!

Commands:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ../src
make

Running the examples

The examples work if you run them from the base directory (argos3-kilobot).

To run the examples, set the ARGOS_PLUGIN_PATH variable as follows:

export ARGOS_PLUGIN_PATH=/PATH/TO/argos3-kilobot/build/plugins/robots/kilobot

Change /PATH/TO with the full path to the argos3-kilobot directory.

argos3 -c src/examples/experiments/kilobot_blinky.argos

argos3 -c src/examples/experiments/kilobot_simple_movement.argos

argos3 -c src/examples/experiments/kilobot_nonblocked_movement.argos

argos3 -c src/examples/experiments/kilobot_speaker_listener.argos

argos3 -c src/examples/experiments/kilobot_speaker_listener_mod.argos

argos3 -c src/examples/experiments/kilobot_disperse.argos

argos3 -c src/examples/experiments/kilobot_orbit.argos

argos3 -c src/examples/experiments/kilobot_move_to_light.argos

argos3 -c src/examples/experiments/kilobot_gradient_simple.argos

argos3 -c src/examples/experiments/kilobot_sync.argos

Architecture
- Single-thread, single process wrapper around kilolib.h
  - Robots must run the same behavior
  - Global variables cannot be used to contain state
Models
- Only model offered is the Kilobot
- Motion is kinematics with simple overlap resolution
  - Robots cannot push other objects
- Communication neglects obstructions
- Message drop has uniform probability

Architecture
- Multi-thread, multi-process architecture
- Robots can run different behaviors
- Global variables can be used to contain state
Models
- Models of Kilobot, other robots, boxes, cylinders
  - Motion is full 2D dynamics
  - Robots can push other objects
- Communication considers obstruction
- Message drop considers local density