Woxbots: A Low‐Cost Swarm Robotics Platform for Real‐Time Pattern Formation and Path Planning

摘要

ABSTRACT Swarm robots provide significant promise for autonomous exploration, disaster response, environmental monitoring, and military operations. Nevertheless, most existing platforms are limited to simulations or lack the full‐stack integration necessary for practical deployment. Although our prior simulation‐based research validated the theoretical viability of decentralized swarm behaviour, its actual execution continues to pose challenges. To bridge the gap, in the current research work, Woxbots, an economical and scalable swarm robotics platform designed for the experimental validation of pattern formation and collision‐aware route planning using velocity obstacle techniques, has been introduced. The current system was equipped with strong multiagent communication, real‐time obstacle avoidance, and velocity‐dependent trajectory regulation. The modular design, constructed using Raspberry Pi and ESP32 microcontrollers, guarantees dependable odometry, easy interface, and adaptable robot coordination. A PID controller improves dynamic responsiveness and trajectory accuracy. Extensive experimental trials with various autonomous agents confirm the platform's reliability, flexibility, and real‐time efficacy in dynamic, limited settings. Woxbots provide a cost‐effective and practical solution, facilitating the development of scalable swarm robotic systems for academic research, industrial automation, and mission‐critical operations.