Kilobot and ARK simulation

To simulate the Kilobot, we recommend using ARGoS simulator and its Kilobot plugin. Simulating the Kilobots using ARGoS offers numerous advantages, including the ability to simulate the ARK system.

ARGoS simulates the ARK system as part of its Kilobot plugin through the so-called ARK loop function (ALF). The ALF loop function was developed in a way that facilitates the passage from the real system to the simulator and vice-versa. The Kilobot plugin comes with two examples of using ALF (i.e. simulating the ARK system). These examples can be found in src/examples/loop_functions/ARK_loop_functions folder within the Kilobot plugin.