  Consensus dynamics in decentralised multiagent systems are subject to intense
studies, and several different models have been proposed and analysed. Among
these, the naming game stands out for its simplicity and applicability to a
wide range of phenomena and applications, from semiotics to engineering.
Despite the wide range of studies available, the implementation of theoretical
models in real distributed systems is not always straightforward, as the
physical platform imposes several constraints that may have a bearing on the
consensus dynamics. In this paper, we investigate the effects of an
implementation of the naming game for the kilobot robotic platform, in which we
consider concurrent execution of games and physical interferences. Consensus
dynamics are analysed in the light of the continuously evolving communication
network created by the robots, highlighting how the different regimes crucially
depend on the robot density and on their ability to spread widely in the
experimental arena. We find that physical interferences reduce the benefits
resulting from robot mobility in terms of consensus time, but also result in
lower cognitive load for individual agents.
