Characterization and commissioning of a mobile robot platform for swarm-oriented applications

Accurate sensing and reliable control are essential for the effective operation of autonomous mobile robots, particularly in constrained environments where navigation errors and detection failures can significantly affect performance. This work presents the characterization and commissioning of a mobile robot platform as a foundational stage toward swarm-based inventory localization strategies. The onboard infrared, light, and acoustic sensors were experimentally evaluated to determine their operational ranges, environmental sensitivity, and detection reliability. A Proportional-Derivative controller was implemented and tuned to enhance trajectory stability, while light sensing calibration ensured robust operation under varying ambient illumination. Additionally, an acoustic detection mechanism was integrated to enable robot-to-robot detection without physical contact. Experimental results confirmed that thorough sensor characterization, combined with targeted control adjustments, improved navigation stability and detection robustness. These developments establish a solid technical basis for the subsequent implementation of swarm coordination and clustering behaviors in autonomous inventory localization applications.