Software system integration of heterogeneous swarms of robots

Swarm robotics has gained momentum in the last years due to impressive technological and scientific advances. A wide range of application areas benefit from the power of collective behaviors and emergent intelligence even if individual agents in a swarm are simple and have limited sensing and processing capabilities. This paper presents a new approach to the problem of software system integration of heterogeneous robots in a swarm. We showcase the capabilities of this approach by providing a sound methodology, full code and demonstration videos of the run-time platform through experiments with heterogeneous swarms. The proposed solution is shown to be modular, scalable, robust, and flexible.