{"id":"https://openalex.org/W3197434418","doi":"https://doi.org/10.1109/mrs50823.2021.9620611","title":"BotNet: A Simulator for Studying the Effects of Accurate Communication Models on Multi-Agent and Swarm Control","display_name":"BotNet: A Simulator for Studying the Effects of Accurate Communication Models on Multi-Agent and Swarm Control","publication_year":2021,"publication_date":"2021-11-04","ids":{"openalex":"https://openalex.org/W3197434418","doi":"https://doi.org/10.1109/mrs50823.2021.9620611","mag":"3197434418"},"language":"en","primary_location":{"id":"doi:10.1109/mrs50823.2021.9620611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs50823.2021.9620611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009889497","display_name":"Mark Selden","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Selden","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087853022","display_name":"Jason Zhou","orcid":"https://orcid.org/0000-0003-4229-6009"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason Zhou","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061025360","display_name":"Felipe Campos","orcid":"https://orcid.org/0000-0001-9232-080X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Felipe Campos","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083548887","display_name":"Nathan Lambert","orcid":"https://orcid.org/0000-0002-9997-6817"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Lambert","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084379119","display_name":"Daniel Drew","orcid":"https://orcid.org/0000-0001-5696-4878"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Drew","raw_affiliation_strings":["University of Utah,Department of Electrical and Computer Engineering,UT,USA","Department of Electrical and Computer Engineering, University of Utah, UT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Utah,Department of Electrical and Computer Engineering,UT,USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Utah, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085143303","display_name":"Kristofer S. J. Pister","orcid":"https://orcid.org/0000-0002-8108-2102"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kristofer S. J. Pister","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.962,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.77374507,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"101","last_page":"109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6772850155830383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6517768502235413},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6364201903343201},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.6002041101455688},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5368820428848267},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5033804774284363},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4465911090373993},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.4298579692840576},{"id":"https://openalex.org/keywords/network-simulation","display_name":"Network simulation","score":0.42552316188812256},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4214664697647095},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3721773624420166},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.37180864810943604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28222519159317017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17673566937446594}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6772850155830383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6517768502235413},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6364201903343201},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.6002041101455688},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5368820428848267},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5033804774284363},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4465911090373993},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.4298579692840576},{"id":"https://openalex.org/C139940560","wikidata":"https://www.wikidata.org/wiki/Q290036","display_name":"Network simulation","level":2,"score":0.42552316188812256},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4214664697647095},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3721773624420166},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.37180864810943604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28222519159317017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17673566937446594},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mrs50823.2021.9620611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs50823.2021.9620611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W332615742","https://openalex.org/W1490466714","https://openalex.org/W1518672027","https://openalex.org/W1522692516","https://openalex.org/W1580992231","https://openalex.org/W1841750659","https://openalex.org/W1981826826","https://openalex.org/W1984581321","https://openalex.org/W1989495662","https://openalex.org/W2000687010","https://openalex.org/W2003253456","https://openalex.org/W2016590620","https://openalex.org/W2017150251","https://openalex.org/W2032729168","https://openalex.org/W2032982077","https://openalex.org/W2050769179","https://openalex.org/W2081525555","https://openalex.org/W2096108718","https://openalex.org/W2098516466","https://openalex.org/W2099397914","https://openalex.org/W2110510068","https://openalex.org/W2118331730","https://openalex.org/W2118487614","https://openalex.org/W2119693819","https://openalex.org/W2125668987","https://openalex.org/W2149469814","https://openalex.org/W2149913175","https://openalex.org/W2152244994","https://openalex.org/W2167340365","https://openalex.org/W2170239483","https://openalex.org/W2337963643","https://openalex.org/W2396370197","https://openalex.org/W2494606451","https://openalex.org/W2615547864","https://openalex.org/W2752790329","https://openalex.org/W2788115019","https://openalex.org/W2791266081","https://openalex.org/W2885480357","https://openalex.org/W2901136733","https://openalex.org/W2912003207","https://openalex.org/W2912608789","https://openalex.org/W2963287938","https://openalex.org/W3013410780","https://openalex.org/W3015882879","https://openalex.org/W3021335453","https://openalex.org/W3089879900","https://openalex.org/W3099136445","https://openalex.org/W3127565584","https://openalex.org/W3129749699","https://openalex.org/W3137148966","https://openalex.org/W3142421752","https://openalex.org/W3144088531","https://openalex.org/W4235414394","https://openalex.org/W4301340643","https://openalex.org/W6611363014","https://openalex.org/W6638594179","https://openalex.org/W6682013967","https://openalex.org/W6737769214","https://openalex.org/W6743832865","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2097610718","https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W1871202614","https://openalex.org/W4327740834","https://openalex.org/W4233987368","https://openalex.org/W4387113913","https://openalex.org/W1596835606","https://openalex.org/W2138105113"],"abstract_inverted_index":{"Decentralized":[0],"control":[1,122],"in":[2,32,160,162],"multi-robot":[3,55,121],"systems":[4,56],"is":[5],"dependent":[6],"on":[7,68],"accurate":[8,114],"and":[9,20,40,61,127,154],"reliable":[10],"communication":[11,15,151],"between":[12],"agents.":[13,139],"Important":[14],"factors,":[16],"such":[17,124],"as":[18,125],"latency":[19],"packet":[21],"delivery":[22],"ratio,":[23],"are":[24,143],"strong":[25],"functions":[26],"of":[27,30,38,54,78],"the":[28,33,52,76,149,166],"number":[29],"agents":[31],"network.":[34],"Findings":[35],"from":[36,134],"studies":[37],"mobile":[39],"high":[41],"node-count":[42],"radio-frequency":[43],"(RF)":[44],"mesh":[45,104],"networks":[46],"have":[47],"only":[48],"been":[49],"transferred":[50],"to":[51,57,137,145,148,164],"domain":[53],"a":[58,87],"limited":[59],"extent,":[60],"typical":[62],"multi-agent":[63],"robotic":[64],"simulators":[65],"often":[66],"depend":[67],"simple":[69,120],"propagation":[70,152],"models":[71,116,153],"that":[72],"do":[73],"not":[74],"reflect":[75],"behavior":[77],"realistic":[79],"RF":[80,103],"networks.":[81],"In":[82],"this":[83,108],"paper,":[84],"we":[85,110],"present":[86],"new":[88],"open":[89],"source":[90],"swarm":[91],"robotics":[92],"simulator,":[93],"BotNet,":[94],"with":[95,130],"an":[96],"embedded":[97],"standards-compliant":[98],"time-synchronized":[99],"channel":[100],"hopping":[101],"(6TiSCH)":[102],"network":[105],"simulator.":[106],"Using":[107],"simulator":[109],"show":[111],"how":[112],"more":[113],"communications":[115],"can":[117],"limit":[118],"even":[119],"tasks":[123],"flocking":[126],"formation":[128],"control,":[129],"agent":[131],"counts":[132],"ranging":[133],"10":[135],"up":[136],"2500":[138],"The":[140],"experimental":[141],"results":[142],"used":[144,159],"motivate":[146],"changes":[147],"inter-robot":[150],"other":[155],"networking":[156],"components":[157],"currently":[158],"practice":[161],"order":[163],"bridge":[165],"sim-to-real":[167],"gap.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}