Experimental validation of swarms of robots

Several swarm algorithms have been presented, but only few of them have been implemented in actual robots. In this paper we present an implementation of a swarm algorithm for some predefined formations. The algorithm is implemented in microcontrollers, which effectively makes the experiment a system of systems. The only input for the algorithm is the position of the robot and the relative positions of neighbours within 2 metres of the robot. The results of experiments presented show that the algorithm presents the same general behaviour as predicted in simulations. However, due to noise in measurements and commands, the behaviour is slightly different.