Review Article
An Introduction to Swarm Robotics
Table 2
Summary of the main robotic platforms used in swarm experiments.
| Name | Size (mm) (diam.) or () | 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 | | Wheeled (differential drive) | Microchip PIC | IR proximity and light Linear camera | Radio (115 kbit/s) | — | Research Non commercial | Jasmine | | Wheeled (differential drive) | 2 ATMega microcontrollers | 8 IR | IR | Integrated (IR based) | Open source Research | I-Swarm robot | | Micro legged | | | | — | 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 | | Wheeled (differential drive) | ARM (40 Mhz) and FPGA 200 kgate | IR, light sensors Contact, camera | IR based (Local) | Integrated (IR based) | Research Non commercial |
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