[Creeper - Version History]

Version 2.0 (September 2013)

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  • [NEW] CRController is no longer an applet. Instead, the application is now a standalone Java application.
  • [NEW] Your application can now be ran automatically, with parameters set from the command line. This enables running background jobs or jobs on supercomputer clusters. See code for Robot Foraging main class as an example.
  • [NEW] CRSettings was replicated by CRParameters. CRParameters is a singleton and maintains any parameters of the simulation. The singleton can be set to maintain instance of a sublcass to ensure seemless integration of custom parameters with Creeper.
  • [NEW] The possibility to display camera controls in the CRControlPanel in case CRWorld is bigger than displayed screen using setShowViewMovementControls(true). The camera is also controllable by the arrow keys.
  • [NEW] Scenarios mechanism in CRWorld. Simply add the scenarios before CRControlPanel is created (or recreate the CRControlPanel manually) and scenarios drop-down will appear next to the START SIMULATION button. The selected scenario is stored in CRParameters.scenario. For example:
  • public class World extends CRBinWorld {
        public static String TEST = "Test";
        public World(CRController controller_) {
  • Improved collision detection in CRBaseSituatedModel
  • Improved maintanence of previous position in CRBaseDynamicModel
  • [NEW] CRRenderer has a record of more ready-to-use images
  • Minor bug fixes and additions

Version 1.0 (May 2013)


Understanding the Role of Recruitment in Robot Foraging

The ability of a simulated robotic swarm of individualists and a swarm of bee-like communicators to collect resources from various environments is compared.

Controlling Ant-Based Construction

Stigmergy allows insect colonies to collectively build structures that no single individual is fully aware of. Since relatively minimal sensory and reasoning capabilities are required of the agents, such building activity could be utilised by robotic swarms if we could learn how to control the shape of the final structures.

Boid Game-Playing through Randomised Movement

The original boid flocking algorithm is extended by adding randomised movement to the flock members. This approach is a light-weight alternative to other ‘follow the leader’ techniques implemented in order to create a ‘game-playing’ behaviour during which a flock changes its movement direction as observed in real birds.

A small compiler script for C with GCC

One of my favourite classes at the moment is the one where they teach us C. Knowing C already, it is a nice relaxation for Monday morning...


The main purpose of pyCreeper is to wrap tens of lines of python code, required to produce graphs that look good for a publication, into functions. It takes away your need to understand various quirks of matplotlib and gives you back ready-to-use and well-documented code.

Novelty detection with robots using the Grow-When-Required Neural Network

The Grow-When-Required Neural Network implementation in simulated robot experiments using the ARGoS robot simulator.