Title :
Open E-puck Range & Bearing miniaturized board for local communication in swarm robotics
Author :
Gutiérrez, Alvaro ; Campo, Alexandre ; Dorigo, Marco ; Donate, Jesus ; Monasterio-Huelin, Félix ; Magdalena, Luis
Author_Institution :
ETSIT, Univ. Politec. de Madrid (UPM), Madrid, Spain
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.
Keywords :
infrared detectors; mobile robots; multi-robot systems; multivariable systems; robot programming; sensors; software libraries; decentralized system; local communication; localization-communication software library; on-board infrared sensor; open e-puck range-bearing miniaturized board; swarm robot; Infrared sensors; Open source hardware; Open source software; Optical fiber communication; Robot sensing systems; Robotics and automation; Signal processing; Software libraries; Transport protocols; Ultrasonic imaging;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152456
