GenGrid：一种用于群体机器人的通用分布式实验环境网格
GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics
AI总结：
GenGrid是一种低成本、模块化的开源分布式实验环境网格平台，兼容多种移动机器人，支持双向通信与数据采集，能以最少资源运行多种群体机器人实验，突破了商业平台难以修改的局限。
摘要：
GenGrid是一个新颖的综合性开源分布式平台，旨在进行广泛的群体机器人实验。该模块化平台设计用于运行群体机器人实验，兼容从Colias、Kilobot到E-puck等不同类型的移动机器人。该平台提供对实验设置及其参数的可编程控制，并作为收集群体机器人数据的工具，包括定位、感官反馈、消息传递和交互。GenGrid被设计为一个由可连接计算节点组成的模块化网格，在机器人智能体与网格节点之间以及网格内部提供双向通信。本文描述了GenGrid系统的硬件和软件架构设计。此外，它还讨论了一些涵盖多机器人和群体机器人的常见实验研究，以展示该平台的使用。由25个具有相同传感和通信特性的同构单元组成、占地37.5 cm X 37.5 cm的GenGrid，以最少的资源展现了多种能力。该开源硬件平台非常便于运行群体实验，包括基于多个梯度的机器人跳跃、集体运输、牧羊、连续信息素沉积以及随后的蒸发。这个低成本、模块化和开源的平台在群体机器人研究界具有重要意义，而该领域目前主要由允许极少修改的商业平台主导。
英文摘要：
GenGrid is a novel comprehensive open-source, distributed platform intended for conducting extensive swarm robotic experiments. The modular platform is designed to run swarm robotics experiments that are compatible with different types of mobile robots ranging from Colias, Kilobot, and E puck. The platform offers programmable control over the experimental setup and its parameters and acts as a tool to collect swarm robot data, including localization, sensory feedback, messaging, and interaction. GenGrid is designed as a modular grid of attachable computing nodes that offers bidirectional communication between the robotic agent and grid nodes and within grids. The paper describes the hardware and software architecture design of the GenGrid system. Further, it discusses some common experimental studies covering multi-robot and swarm robotics to showcase the platform's use. GenGrid of 25 homogeneous cells with identical sensing and communication characteristics with a footprint of 37.5 cm X 37.5 cm, exhibits multiple capabilities with minimal resources. The open-source hardware platform is handy for running swarm experiments, including robot hopping based on multiple gradients, collective transport, shepherding, continuous pheromone deposition, and subsequent evaporation. The low-cost, modular, and open-source platform is significant in the swarm robotics research community, which is currently driven by commercial platforms that allow minimal modifications.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
