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In the last few decades we have witnessed how the pheromone of social insecthas become a rich inspiration source of swarm robotics. By utilising thevirtual pheromone in physical swarm robot system to coordinate individuals andrealise direct/indirect inter-robot communications like the social insect,stigmergic behaviour has emerged. However, many studies only take one singlepheromone into account in solving swarm problems, which is not the case in realinsects. In the real social insect world, diverse behaviours, complexcollective performances and flexible transition from one state to another areguided by different kinds of pheromones and their interactions. Therefore,whether multiple pheromone based strategy can inspire swarm robotics research,and inversely how the performances of swarm robots controlled by multiplepheromones bring inspirations to explain the social insects' behaviours willbecome an interesting question. Thus, to provide a reliable system to undertakethe multiple pheromone study, in this paper, we specifically proposed andrealised a multiple pheromone communication system called ColCOS$\Phi$. Thissystem consists of a virtual pheromone sub-system wherein the multiplepheromone is represented by a colour image displayed on a screen, and themicro-robots platform designed for swarm robotics applications. Two casestudies are undertaken to verify the effectiveness of this system: one is themultiple pheromone based on an ant's forage and another is the interactions ofaggregation and alarm pheromones. The experimental results demonstrate thefeasibility of ColCOS$\Phi$ and its great potential in directing swarm roboticsand social insects research.

ColCOS$\Phi$: A Multiple Pheromone Communication System for Swarm Robotics and Social Insects Research