Table 2: Summary of the main robotic platforms used in swarm experiments.

Name Size (mm) (diam.) or ( 𝑙 × 𝑤 )Actuators Computing capabilities SensorsCommunicationsRelative positioning systemDevelopment

Khepera 55Wheeled
(differential drive)
Motorola MC68331 8 IR RS232
Wired link
Research
Commercial
Khepera III 120Wheeled
(differential drive)
PXA-255 (400 MHz) Linux and dsPICs 11 IR
5 ultra sound
WIFI and bluetooth Expansion
(IR based)
Research Commercial
e-puck 75Wheeled
(differential drive)
dsPIC 11 infrared (IR)
Contact ring
Colour camera
Bluetooth Expansion
(IR based)
Open source
Commercial
Research and Edu.
Alice 2 0 × 2 0 Wheeled
(differential drive)
Microchip PIC IR proximity and light
Linear camera
Radio
(115 kbit/s)
Research
Non commercial
Jasmine 2 3 × 2 3 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 120Wheeled
(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 1 2 7 × 1 2 7 Wheeled
(differential drive)
ARM (40 Mhz) and FPGA 200 kgate IR, light sensors
Contact, camera
IR based
(Local)
Integrated
(IR based)
Research
Non commercial

a Information not available.