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

fYear

2009

fDate

12-17 May 2009

Firstpage

3111

Lastpage

3116

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152456

Filename

5152456