An Introduction to Swarm Robotics

Table 2

Summary of the main robotic platforms used in swarm experiments.

Name	Size (mm) (diam.) or (𝑙×𝑤)	Actuators	Computing capabilities	Sensors	Communications	Relative positioning system	Development
Khepera	55	Wheeled; (differential drive)	Motorola MC68331	8 IR	RS232; Wired link	—	Research; Commercial
Khepera III	120	Wheeled; (differential drive)	PXA-255 (400 MHz) Linux and dsPICs	11 IR; 5 ultra sound	WIFI and bluetooth	Expansion; (IR based)	Research Commercial
e-puck	75	Wheeled; (differential drive)	dsPIC	11 infrared (IR); Contact ring; Colour camera	Bluetooth	Expansion; (IR based)	Open source; Commercial; Research and Edu.
Alice	20×20	Wheeled; (differential drive)	Microchip PIC	IR proximity and light; Linear camera	Radio; (115 kbit/s)	—	Research; Non commercial
Jasmine	23×23	Wheeled; (differential drive)	2 ATMega microcontrollers	8 IR	IR	Integrated; (IR based)	Open source; Research
I-Swarm; robot	3×3	Micro legged	a	a	a	—	Research; Non commercial
S-Bot	120	Wheeled; (differential drive); 2 Grippers	XSclae (400 Mhz) Linux PICs	15 Proximity; OmniCamera; Microphone, Temp.	WIFI	Camera based	Research; Non commercial
Kobot	120	Wheeled; (differential drive)	PXA-255 (200 MHz) and PICs	8 IR; Colour camera	Zigbee	Integrated; (IR based)	Research; Non commercial
SwarmBot	127×127	Wheeled; (differential drive)	ARM (40 Mhz) and FPGA 200 kgate	IR, light sensors; Contact, camera	IR based; (Local)	Integrated; (IR based)	Research; Non commercial

aInformation not available.