IRIDIA - Supplementary Information (ISSN: 2684-2041)

Supplementary material for the paper:

Bio-inspired decision making in robot swarms under biases

Raina Zakir, Timoteo Carletti, Marco Dorigo, and Andreagiovanni Reina (March 2026)


Table of Contents
  1. Supplementary Video
  2. Robot Experiments
  3. Phase portrait for n=3, symmetric options
  4. Code

Supplementary video

Robot experiments

The full set of videos, including side-angle recordings, are also available here

CI q = 0.92, ηa = 0.3

CI q = 0.66, ηa = 0.3

CI q = 0.92, ηa = 0.5

CI q = 0.66, ηa = 0.5

DS q = 0.92, ηa = 0.3

DS q = 0.66, ηa = 0.3

DS q = 0.92, ηa = 0.5

DS q = 0.66, ηa = 0.5

Phase portrait for n=3, symmetric options

Code

The source code for the collective perception algorithm run on the Kilobots, as well as the ARGoS simulation code and Gillespie code is available in the repository.