Final scenario

The final scenario will consist of a controlled environment where the software will be tested. The environement will consist of a square area of operations (AO) bordered by a white line. Inside this AO several sizes and masses of material will be placed. Using the software a number of freeduino based robots will be given the task to clean the AO. As some materials can not be moved with only one of the robots cooperation is needed, therefore testing the swarm behaviour software. The main idea can be seen in the figure below:

• The green shapes indicate pieces of material, the number inside shows how much robots are needed to move it outside of the box.
• The yellow shapes indicate obstacles which can't be moved, and terefore have to be evaded.
• The blue shapes indicate the robots in the field.

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