Fig. 5: Results of the empirical analysis.
From: Automatic design of stigmergy-based behaviours for robot swarms
We report results of the evaluation of 160 instances of control software, 10 per method and per mission. All instances of control software were evaluated once in simulation and once with physical robots—more details on the protocol are provided in Methods. The results are presented using boxplots on a per-mission basis: a AGGREGATION, b DECISION MAKING, c RENDEZVOUS POINT, and d STOP. In all missions, for each method, we report the performance obtained in simulation and with physical robots using thin and thick boxes, respectively. e Friedman rank sum test on real-robot performance to aggregate the overall performance of each method across the four missions—the lower the rank, the better. An explanation of the graphical convention adopted in the boxplots and in the Friedman test are provided in the Methods section under the heading Statistics.
