{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:55:10Z","timestamp":1760237710176,"version":"build-2065373602"},"reference-count":77,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2020,6,10]],"date-time":"2020-06-10T00:00:00Z","timestamp":1591747200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Sciences Research Council","doi-asserted-by":"publisher","award":["EP\/R026084\/1","EP\/P01366X\/1"],"award-info":[{"award-number":["EP\/R026084\/1","EP\/P01366X\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Swarm robotics focuses on decentralised control of large numbers of simple robots with limited capabilities. Decentralised control in a swarm system requires a reliable communication link between the individuals that is able to provide linear and angular distances between the individuals\u2014Range &amp; Bearing. This study presents the development of an open-source, low-cost communication module which can be attached to miniature sized robots; e.g., Mona. In this study, we only focused on bearing estimation to mathematically model the bearings of neighbouring robots through systematic experiments using real robots. In addition, the model parameters were optimised using a genetic algorithm to provide a reliable and precise model that can be applied for all robots in a swarm. For further investigation and improvement of the system, an additional layer of optimisation on the hardware layout was implemented. The results from the optimisation suggested a new arrangement of the sensors with slight angular displacements on the developed board. The precision of bearing was significantly improved by optimising in both software level and re-arrangement of the sensors\u2019 positions on the hardware layout.<\/jats:p>","DOI":"10.3390\/s20113308","type":"journal-article","created":{"date-parts":[[2020,6,15]],"date-time":"2020-06-15T05:56:27Z","timestamp":1592200587000},"page":"3308","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Local Bearing Estimation for a Swarm of Low-Cost Miniature Robots"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2463-4289","authenticated-orcid":false,"given":"Zheyu","family":"Liu","sequence":"first","affiliation":[{"name":"Swarm &amp; Computational Intelligence Laboratory (SwaCIL), Department of Electrical &amp; Electronic Engineering, The University of Manchester, Manchester M13 9PL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8164-0848","authenticated-orcid":false,"given":"Craig","family":"West","sequence":"additional","affiliation":[{"name":"Bristol Robotic Lab, University of West England, Bristol, Bristol BS16 1QY, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0905-8324","authenticated-orcid":false,"given":"Barry","family":"Lennox","sequence":"additional","affiliation":[{"name":"Robotics for Extreme Environment Laboratory (REEL), Department of Electrical &amp; Electronic Engineering, The University of Manchester, Manchester M13 9PL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7950-3193","authenticated-orcid":false,"given":"Farshad","family":"Arvin","sequence":"additional","affiliation":[{"name":"Swarm &amp; Computational Intelligence Laboratory (SwaCIL), Department of Electrical &amp; Electronic Engineering, The University of Manchester, Manchester M13 9PL, UK"},{"name":"Robotics for Extreme Environment Laboratory (REEL), Department of Electrical &amp; Electronic Engineering, The University of Manchester, Manchester M13 9PL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,6,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"116","DOI":"10.1016\/j.gfs.2019.04.011","article-title":"The challenges posed by global broadacre crops in delivering smart agri-robotic solutions: A fundamental rethink is required","volume":"23","author":"Grieve","year":"2019","journal-title":"Glob. 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