Experimental results for the color segregation multi-robot task implemented on real and simulated Kilobots using P colonies and Finite State Machines

In this record we present an example use of a symbolic robot control model designed to control a swarm of real and simulated robots (in a distributed manner) using the free and open-source Lulu P colony simulator (https://github.com/andrei91ro/lulu_pcol_sim). The robots used in this experiment are Kilobots. This color segregation example considers a group of leader and follower robots and three posible target states: RED, GREEN, BLUE. The leaders always emit a single type of message (color) and color themselves using a single color. The followers receive messages and if the received color corresponds to their current color (or they are in the initial state), the followers hold their position, keep the RGB LED set to that color and emit the corresponding message. If the followers receive two different types of messages, they will move at random, until they receive messages from of a single type. The second control model, that is included here for comparison purposes, uses the concept of State-full Event-driven Finite State Machine (FSM) and the structure of this model is presented in 'fsm_diagram.png''. Details regarding the functioning of the P colony simulator (Lulu) and of the associated robot controller (Lulu_kilobot) can be found in: A. G. Florea, C. Buiu. Membrane Computing for Distributed Control of Robotic Swarms: Emerging Research and Opportunities, IGI Global, USA, ISBN13: 9781522522805, DOI: 10.4018/978-1-5225-2280-5, 2017 Included in this dataset are: * video files, sets of 10 experiments, grouped by the following six categories: a) using 16 real kilobots controlled using a P colony based model (video_kilobot_lulu_) b) using 16 real kilobots controlled using a FSM based model (video_kilobot_fsm_) c) using 16 simulated kilobots controlled using a P colony based model (video_kilombo_lulu_) d) using 16 simulated kilobots controlled using a FSM based model (video_kilombo_fsm_) e) using 50 simulated kilobots controlled using a P colony based model (video_kilombo_lulu_50_robots) f) using 50 simulated kilobots controlled using a FSM based model (video_kilombo_fsm_50_robots) * experiment data, for each experiment, for each of the previous six categories, grouped in a single ZIP archive (csv_data_and_R_script.zip) * The GNU R source file that can be used to process the experiment data, inside csv_data_and_R_script.zip本数据集记录展示了一个符号化机器人控制模型的示例应用，该模型可通过免费开源的Lulu P colony模拟器（https://github.com/andrei91ro/lulu_pcol_sim）以分布式方式控制真实机器人集群与仿真机器人集群。本实验所用机器人为Kilobots（Kilobots）。本次颜色分群示例包含一组领航机器人与跟随机器人，以及三种可选目标状态：红色（RED）、绿色（GREEN）、蓝色（BLUE）。 领航机器人始终仅发射单一类型的消息（对应颜色），并将自身灯光设置为对应单色。跟随机器人接收消息后，若接收到的颜色与其当前自身颜色一致，或处于初始状态，则会保持当前位置，将RGB灯光设置为该颜色并发射对应消息。若跟随机器人接收到两种不同类型的消息，则会随机移动，直至仅接收到单一类型的消息。 本次提供的第二种控制模型用于对比，其基于带状态事件驱动有限状态机（State-full Event-driven Finite State Machine）的概念，该模型的结构详见"fsm_diagram.png"。 有关P colony模拟器（Lulu）以及配套机器人控制器（Lulu_kilobot）的详细说明可参阅：A. G. Florea与C. Buiu所著《Membrane Computing for Distributed Control of Robotic Swarms: Emerging Research and Opportunities》，IGI Global出版社，美国，ISBN13：9781522522805，DOI：10.4018/978-1-5225-2280-5，2017年。 本数据集包含以下内容： * 视频文件：按以下六大类别分组，每类包含10组实验的视频： a) 采用基于P colony模型控制的16台真实Kilobots（Kilobots），命名前缀为video_kilobot_lulu_ b) 采用基于有限状态机（Finite State Machine, FSM）模型控制的16台真实Kilobots（Kilobots），命名前缀为video_kilobot_fsm_ c) 采用基于P colony模型控制的16台仿真Kilobots（Kilobots），命名前缀为video_kilombo_lulu_ d) 采用基于FSM模型控制的16台仿真Kilobots（Kilobots），命名前缀为video_kilombo_fsm_ e) 采用基于P colony模型控制的50台仿真Kilobots（Kilobots），命名前缀为video_kilombo_lulu_50_robots f) 采用基于FSM模型控制的50台仿真Kilobots（Kilobots），命名前缀为video_kilombo_fsm_50_robots * 实验数据：针对上述六大类别中的每一组实验，将所有数据打包至单个ZIP归档文件csv_data_and_R_script.zip中 * 用于处理实验数据的GNU R（GNU R）源代码文件，位于归档文件csv_data_and_R_script.zip内