Abstract:This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or 'bridge the gap' anytime a real-world experiment failed that worked in simulation, we characterize conditions under which this is actually necessary. When these conditions are not satisfied, we show how very simple simulators can still be used to both (i) design new multi-robot systems, and (ii) guide real-world swarming experiments towards certain emergent b… Show more
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