Demonstration video for the secure dispersion of robots in a swarm using P colonies

In these two videos we present a simulation of the dispersion of Kilobot robots in the presence of an intruder coloured in violet. The robots are using a P colony based controller that is executed using the Lulu P colony / P swarm simulator. The security method that was implemented makes use of the unique number that is assigned to each Kilobot robot during calibration. The first video (disperse_with_intruder_10_robots.avi) we simulate 10 Kilobots using the Kilombo simulator, where robot with id=2 is marked as an intruder and can affect the behaviour of the robots in its vecinity because no security method is implemented. In the second video (disperse_id_security_10_robots.avi) we implemented an ID based security method where each robot has a list of all swarm members and checks the id of robots nearby before deciding whether to move away or not. The source code (secure_disperse.lulu) of the P colony used for the secure dispersion algorithm is also included. This P colony is defined in the input file format accepted by the Lulu P colony / P swarm simulator.本视频集包含两段演示视频，展示了存在紫色入侵机器人时，Kilobot机器人集群的扩散模拟过程。本次模拟中，机器人采用基于P元胞（P colony）的控制器，并通过Lulu P元胞/P集群模拟器（Lulu P colony / P swarm simulator）运行。所采用的安全机制，依托于每台Kilobot机器人在校准阶段被分配的唯一编号。第一段视频（disperse_with_intruder_10_robots.avi）通过Kilombo模拟器模拟了10台Kilobot机器人的行为：其中编号为2的机器人被设定为入侵机器人，由于未启用安全机制，它可对周边机器人的行为产生影响。第二段视频（disperse_id_security_10_robots.avi）则展示了启用基于编号的安全机制后的模拟过程：每台机器人均存储有完整的集群成员列表，在决定是否撤离前，会先核验周边机器人的编号。本次资料还附带了用于安全扩散算法的P元胞源代码（secure_disperse.lulu），该P元胞采用Lulu P元胞/P集群模拟器所支持的输入文件格式进行定义。