This project explores swarm robotics using Kilobots to simulate and implement bio-inspired collective behaviors, particularly those observed in ant colonies. The project includes both simulation work in CoppeliaSim (V-REP) and real hardware implementation using physical Kilobots.
Kilobots are small, low-cost robots designed for swarm robotics research. This project demonstrates:
- Leader-follower behavior: One "queen" robot leads while others follow
- Bio-inspired movement patterns: Mimicking ant colony foraging and communication behaviors
- Visual feedback system: LED indicators showing robot states and battery levels
- Collective decision making: Distributed algorithms for group coordination
- Power: Lithium battery powered
- Communication: Infrared-based local communication
- Locomotion: Vibration-based movement system
- Feedback: RGB LED indicators
- Programming Interface: Overhead infrared transmitter (the component you mentioned)
- 🔵 Blue: Fully charged, Queen robot status
- 🔴 Red: Low battery/charging required
- 🟢 Green: Normal operation, follower robot
kilobot-swarm-project/
├── simulation/
│ ├── coppeliasim_scenes/
│ └── vrep_models/
├── hardware/
│ ├── kilobot_code/
│ └── algorithms/
├── videos/
│ ├── Kilobot_Movement.mp4
│ └── Kilobot_Simulation.mp4
└── README.md
- 3D visualization of Kilobot movements
- Testing of swarm algorithms in virtual environment
- Parameter tuning and behavior analysis
- Safe testing before hardware deployment
- Real-world validation of simulated behaviors
- Leader-follower dynamics with one queen robot
- Battery-aware operation with visual indicators
- Scalable swarm size (tested with multiple Kilobots)
📹 Simulation Demo: Click here and select "Download raw file" to view the CoppeliaSim simulation
📹 Hardware Demo: Click here and select "Download raw file" to view the physical Kilobots in action
Note: Click on the video files above, then click "Download raw file" or "View raw" to download and watch the demonstrations.
- Trail Following: Robots follow paths established by the queen
- Collective Movement: Coordinated group locomotion
- Leader Selection: Dynamic queen robot identification
- Communication: Local information sharing through IR communication
- CoppeliaSim (V-REP) for simulation
- Kilobot programming environment
- Overhead IR transmitter for hardware programming
- Open CoppeliaSim
- Choose the Kilobots
- Run the simulation to observe swarm behavior
- Charge all Kilobots (blue LED indicates full charge)
- Program robots with the provided code using overhead transmitter
- Designate one robot as queen (blue LED)
- Place robots in testing area and observe collective behavior
- State Machine: Each robot operates with defined states (leader/follower)
- Communication Protocol: IR-based message passing for coordination
- Motion Control: Vibration-based differential locomotion
- Battery Management: Power-aware operation with visual feedback
- Reliable robot-to-robot communication in noisy environments
- Battery life optimization for extended operation
- Scalable algorithms that work with varying swarm sizes
- Real-time coordination without centralized control
This project provides hands-on experience with:
- Swarm robotics principles
- Bio-inspired algorithm design
- Robot simulation and validation
- Hardware-software integration
- Distributed systems programming
Feel free to fork this project and submit pull requests for improvements. Areas of interest include:
- New bio-inspired behaviors
- Algorithm optimizations
- Extended simulation scenarios
- Hardware modifications
This project demonstrates the fascinating intersection of biology, robotics, and distributed systems, showing how simple robots can exhibit complex collective behaviors inspired by nature.