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ARDebug is an open-source, cross-platform, and modular tool that allows the user to visualise the internal state of a robot swarm using graphical augmented reality techniques. The software is specifically designed with adoption by other institutions in mind, and aims to provide an extensible tool that other researchers can easily integrate with their own experimental infrastructures.


Millard, A.G., Redpath, R., Jewers, A.M., Arndt, C., Joyce, R., Hilder, J.A., McDaid, L.J. and Halliday, D.M., 2018. ARDebug: an augmented reality tool for analysing and debugging swarm robotic systems. Frontiers in Robotics and AI, 5, p.87.

Video demonstrations

Version 1.1

ARDebug 1.1 video

Version 1.0

ARDebug 1.0 video

Software download

Source code for the application is freely available for download from our GitHub account.

Contact us

Professor Andy Tyrrell