Open E-puck range & bearing miniaturized board for local communication in swarm robotics

Authors:
Álvaro Gutiérrez;Alexandre Campo;Marco Dorigo;Jesus Donate;Félix Monasterio-Huelin;Luis Magdalena
Affiliations:
ETSIT, Universidad Politécnica de Madrid (UPM), Ciudad Universitaria, Madrid, Spain;IRIDIA, CoDE, Université Libre de Bruxelles, Brussels, Belgium;IRIDIA, CoDE, Université Libre de Bruxelles, Brussels, Belgium;RBZ Robot Design S.L., Madrid, Spain;ETSIT, Universidad Politécnica de Madrid (UPM), Ciudad Universitaria, Madrid, Spain;European Centre for Soft Computing, Asturias, Spain
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

We have designed and built a new open hardware/ software board that lets miniaturized robots communicate and at the same time obtain the range and bearing of the source of emission. The open E-puck Range & Bearing board improves an existing infrared relative localization/communication software library (libIrcom) developed for the e-puck robot and based on its on-board infrared sensors. The board allows the robots to have an embodied, decentralized and scalable communication system. Its use and capabilities are demonstrated via an alignment experiment.