This is the repository containing the codes we used in our ICRA23 paper.
You can find the Kilobot .C code, together with the binary .hex codes in the "Kilobot_codes" folder.
Note: We assigned distinct IDs to each Kilobot when we unboxed them! This helps them to distinguished messages received from different robots. If your robots don't have different IDs, then there is a chance for miscalculation of the local average in the consensus phase.
Citation: Raoufi, M., Romanczuk, P., & Hamann, H. (2023, May). Estimation of continuous environments by robot swarms: Correlated networks and decision-making. In 2023 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5486-5492). IEEE.