Development of a Robotic Platform to Implement a Boundary Mapping Algorithm

In this paper, we present an implementation of an algorithm for a boundary mapping problem and the development of a Swarm Algorithm Test-bed (SAT). The implementation involves the use of three robots, the SAT and a planner. We describe the hardware and the software framework used. The SAT developed can easily be modified for numerous cooperative/distributed control algorithms. Results of the experiment are also presented.