The Nomad 200 and the Nomad SuperScout: Reverse engineered and resurrected

The Nomad 200 and the Nomad SuperScouts are among the most popular platforms used, for research in robotics. Built in the early 1990’s they were the base of choice for many mobile robotics researchers. Unfortunately, lack of support and proper documentation to enhance the computing power on these robots has meant that they have slowly faded away into oblivion. We at York University have four robots from Nomadic Technologies Inc., and rather than allowing our old robots to just rust away, we decided to breathe new life back into them. In this paper we present the techniques we used to resurrect our old Nomads.