Did you notice the position of the light sensor on the kilobot,, and how that affects the calculation of the readings? Also the position of your light is at height zero, which is unusual.

The answer to all of your questions are in the original Kilobot paper and in the source code. I encourage you read both, they should make everything clear. what is the unit of measurement of the value specified in the <light> tag in the intensity attribute? It's an intensity multiplier. See this cod...

You found a bug, but fortunately there's a workaround. When you initialize the LED medium, try this: <led id="leds" grid_size="2, 2, 2" /> Essentially, what is happening is that the grid size to store the LED entities is calculated as 0 because your environment is smaller than 1m...

Great! Yes, that makes sense.

Yes, you should use the point, and then maybe get a different error if something else is off.

It's just a typo. Exercise for you to fix it

This line is wrong: CDirectionalLEDEntity* pcKBLED = any_cast<CDirectionalLEDEntity*>(it->second); You're casting it->second , which you have already cast in the previous line to CKilobotEntity . I would suggest you familiarize with C++ and casting before diving into ARGoS, and make sure understand ...

The code you've attached has a number of errors, e.g., you call the method CALF::Init() despite your class not being a subclass of CALF. The issues you're encountering seem to be more on C++ programming than ARGoS. I can't provide detailed support with external plugins like ARK. If you need specific...

I don't understand the problem, can you please provide accurate information? Exact error messages etc

It's fixed.