Swarm Vacuum Cleaners 2010
This project is a multi-agent simulation in which Roomba robotic vacuums exhibit swarm intelligence. Each robot is completely independent and autonomous, and acts with no representation of the world it operates in. Through simple rules and limited interaction with the environment and with the other robots, the Roombas are able to explore their world and work together to vacuum unknown, complex maps.
The simulated Roombas are modeled after the real-world equivalents -- they have the ability to move forward or reverse with some turning angle, two front bump sensors, and a (top-down) simulated IR sensor to detect other robots within a short range. The control system for each independent robot is modeled after Brooks' "subsumption architecture" -