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A unified mathematical model for synchronisation and swarming has recentlybeen proposed. Each system entity, called a "swarmalator", coordinates itsinternal phase and location with the other entities in a way that these twoattributes are mutually coupled. This paper realises and studies, for the firsttime, the concept of swarmalators in a technical system. We adapt and extendthe original model for its use with mobile robots and implement it in the RobotOperating System 2 (ROS 2). Simulations and experiments with small robotsdemonstrate the feasibility of the model and show its potential to be appliedto real-world systems. All types of space-time patterns achieved in theory canbe reproduced in practice. Applications can be found in monitoring,exploration, entertainment and art, among other domains.

Robots that Sync and Swarm: A Proof of Concept in ROS 2