Fig. 2: Arenas for the five missions. | Nature Communications

Fig. 2: Arenas for the five missions.

From: Empirical assessment and comparison of neuro-evolutionary methods for the automatic off-line design of robot swarms

Fig. 2

a XOR-AGGREGATION, simulation; b, real robots. c, HOMING, simulation; d, real robots. e, FORAGING, simulation; f, real robots. g, SHELTER, simulation; h, real robots. i, DIRECTIONAL-GATE, simulation; j, real robots. The 20 robots operate in a dodecagonal arena of 4.91 m2, the red glow in (e, f, g, h, i), and (j) indicates the presence of a light source at the bottom side of the arena. Dimensions (in meters) of the elements present in the arenas are given in (a, c, e, g,) and (i). Details on the experimental setup are provided in “Methods” and videos of the robot experiments are available as Supplementary Movies 1–5.

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