Robotic Simulation Using Webots

During the Spring 2021 semester of my Master's, we developed a bio-inspired multi agent system simulation utilizing occlusion based implicit coordination in a heterogeneous swarm. The robot platform utilized is the e-puck platform, in which multiple e-pucks provided with differing roles pertinent to the objective. There were two main types: robots that would push, and robots that served as the goal boundaries. With this novel scenario we hoped to observe unique implicitly coordinated behavior. We finally were able to simulate the robots to push a ball into the goal robots based solely on occlusion principles.

This was the state diagram of the system.

This is the link for a working sim.

https://drive.google.com/file/d/1zlpgbatm7Fjla3c1oDKD7QkC54cdoNvK/view

Below is the source code:

https://github.com/auma91/CSCI5423_Final_Project

This project was completed in collaboration with Aurangzeb Malik. You can find him at:

https://www.linkedin.com/in/aurangzeb-m-55ab44113/

A complete report can be found here:

https://docs.google.com/document/d/169StbTjE1TB8xk8bxU4Tlk6zdC-vuf1d/edit?usp=sharing&ouid=115696764993506603927&rtpof=true&sd=true

#robotics #simulation