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This paper proposes a novel methodology for addressing the simulation-realitygap for multi-robot swarm systems. Rather than immediately try to shrink or`bridge the gap' anytime a real-world experiment failed that worked insimulation, we characterize conditions under which this is actually necessary.When these conditions are not satisfied, we show how very simple simulators canstill be used to both (i) design new multi-robot systems, and (ii) guidereal-world swarming experiments towards certain emergent behaviors when the gapis very large. The key ideas are an iterative simulator-in-the-design-loop inwhich real-world experiments, simulator modifications, and simulatedexperiments are intimately coupled in a way that minds the gap without needingto shrink it, as well as the use of minimally viable phase diagrams to guidereal world experiments. We demonstrate the usefulness of our methods ondeploying a real multi-robot swarm system to successfully exhibit an emergentmilling behavior.

Simulate Less, Expect More: Bringing Robot Swarms to Life via Low-Fidelity Simulations