Simulating Multi-robot Construction in ARGoS

  • Michael AllwrightEmail author
  • Navneet Bhalla
  • Carlo Pinciroli
  • Marco Dorigo
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11172)


Running hardware-based experiments in multi-robot construction is an expensive and time-consuming endeavor. Furthermore, it is difficult to disseminate the results from hardware-based experiments in a way that other researchers can build upon. In this paper, we present a number of plug-ins for a multi-robot simulator that we have developed to enable a high-fidelity simulation of the multi-robot construction systems typically found in laboratory settings. We validate these plug-ins qualitatively by repeating a hardware-based experiment in simulation where a single robot assembles a staircase from blocks [1]. We then show how we can use the plug-ins to scale up the complexity of the construction scenario and demonstrate multi-robot construction in simulation. To enable other researchers to replicate our experiments and to promote collaboration, we have made our plug-ins open source.



Michael Allwright was supported by the Australian Government through the Endeavour Scholarships and Fellowships Program. Navneet Bhalla was partially supported by a postdoctoral fellowship from the Natural Sciences and Engineering Research Council of Canada. Marco Dorigo acknowledges support from the Belgian F.R.S.-FNRS, of which he is a Research Director. The work presented in this paper was partially supported by the FLAG-ERA project RoboCom++ and by the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (grant agreement number 681872). We would like to thank Haitham El-faham and Weixu Zhu for their help with implementing and testing the magnetism code in the three-dimensional dynamics plug-in.


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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  1. 1.IRIDIAUniversité Libre de BruxellesBrusselsBelgium
  2. 2.Department of Computer ScienceUniversity College LondonLondonUK
  3. 3.Department of Computer Science/Robotics EngineeringWorcester Polytechnic InstituteWorcesterUSA

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