Mondada, FrancescoMartinoli, Alcherio2011-05-272011-05-272011-05-27199810.1007/978-3-642-72198-4_28https://infoscience.epfl.ch/handle/20.500.14299/67949This paper describes the implementation and modelling of a biologically inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated ten times in a simulated environment (parametric simulation) and carried out five times with a group of ten Khepera miniature mobile robots. The simu- lated and experimental results are compared, quantified and discussed showing the advantages and the weaknesses of both approaches.Collective Bio-Inspired RoboticsModellingAutonomous Roboticstext::conference output::conference proceedings::conference paper