| class="wikitable sortable" |
| Robot | Sensor / Module | Motion/ Max. Speed | Size/Diameter | Autonomy Time | University/Institute | Open source software | Open source hardware | class="unsortable" | Description | Image |
|---|
| AMiR | distance, light, bearing | wheel, 10 cm/s | 6.5 cm | 2 h | University Putra Malaysia | | {{ya}} | AMiR[Arvin, Farshad, et al. "[http://www.ijcee.org/papers/067.pdf Development of a Miniature Robot for Swarm Robotic Application]". International Journal of Computer and Electrical Engineering 1.4 (2009): 436.] is a low-cost swarm robotic platform, developed as an open-source / open-hardware mobile robot. Many researches mostly on honeybee aggregation[ (BEECLUST) was conducted with AMiR (e.g. Fuzzy decisioning][).] | thumb |
| Alice | distance, camera | wheel, 4 cm/s | 2.2 cm | 10 h | École Polytechnique Fédérale de Lausanne (EPFL), Switzerland | | | Alice is a swarm robotic platform built in a very small package size. Alice has been used in many swarm research applications such as the embodiment of cockroach aggregation.[Garnier, Simon, et al. "[https://www.researchgate.net/publication/5283528_The_Embodiment_of_Cockroach_Aggregation_Behavior_in_a_Group_of_Micro-robots The embodiment of cockroach aggregation behavior in a group of micro-robots]". Artificial Life 14.4 (2008): 387-408.] | File:The Alice microrobot.jpg |
| [https://chili.epfl.ch/cellulo Cellulo] | structured dense pattern sensing camera, capacitive touch | omnidirectional ball wheel, 20 cm/s | 7.5 cm | 1-2 h | École Polytechnique Fédérale de Lausanne (EPFL), Switzerland | | | Cellulo[{{Cite book |doi=10.1145/2909824.3020247|isbn=9781450343367|chapter=Cellulo|title=Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction - HRI '17|pages=119–127|year=2017|last1=Özgür|first1=Ayberk|last2=Lemaignan|first2=Séverin|last3=Johal|first3=Wafa|last4=Beltran|first4=Maria|last5=Briod|first5=Manon|last6=Pereyre|first6=Léa|last7=Mondada|first7=Francesco|last8=Dillenbourg|first8=Pierre|s2cid=2277067|chapter-url=http://infoscience.epfl.ch/record/224129}}][{{cite thesis |last=Özgür |first=Ayberk |date=2018 |title=Cellulo: Tangible Haptic Swarm Robots for Learning |type=PhD |publisher=EPFL |url=https://infoscience.epfl.ch//record/234374 |doi=10.5075/epfl-thesis-8241}}] is one of the world's first tangible swarm robot platforms, combining autonomous swarms with haptic-enabled multi-user tangible interaction. Initially invented as an educational platform, research is now being conducted on rehabilitation, gaming and human-computer interaction with Cellulo in addition to education. | File:Cellulo.jpg |
| Colias | distance, light, bump, bearing, range | wheel / 35 cm/s | 4 cm | 1-3 h | CIL at University of Lincoln, UK | | {{ya}} | Colias[{{cite web|title=Low-cost autonomous robots replicate swarming behavior|url=http://newatlas.com/colias-swarm-robot/33897/|publisher=New Atlas|accessdate=4 January 2017|date=2014-09-22}}][Arvin, Farshad, et al. "Colias: An Autonomous Micro-robot for Robotic Swarm Applications." International Journal of Advanced Robotic Systems 11 (2014): 113.] is a low-cost open-source (open-hardware) platform that was developed for use in swarm robotic applications.[Na, S. et al. (2020) ‘Bio-inspired artificial pheromone system for swarm robotics applications’, Adaptive Behavior. doi: 10.1177/1059712320918936.] | File:Swarm of Colias Robot.jpg |
| Colias-III | Camera, distance, light, bump, bearing, range | wheel, 35 cm/s | 4 cm | 1-3 h | CIL at University of Lincoln, UK | | {{ya}} | Colias-III[Hu, Cheng, et al. "A Bio-inspired Embedded Vision System for Autonomous Micro-robots: the LGMD Case", IEEE Transactions on Cognitive and Developmental Systems, 2016.] is an extended version of the Colias micro-robot. It was mainly developed for implementation of bio-inspired vision systems. | File:Colias-3.jpg |
| [https://github.com/correlllab/cu-droplet Droplets] | Light | vibration
|4.4 cm | 24h+ | Correll Lab at the University of Colorado | {{ya}}[{{cite web|title=Droplets|url=http://correll.cs.colorado.edu/?page_id=2687|publisher=Correll Lab|accessdate=4 January 2017|date=20 December 2012}}] | {{ya}} | Droplets are an open hard- and software experimental platform for large-scale swarming research.[{{cite web|title=Ping Pong Ball-Sized Robots Can Swarm Together To Form A Smart Liquid|date=19 December 2012|url=http://www.popsci.com/technology/article/2012-12/ping-pong-ball-sized-robots-can-swarm-together-form-smart-liquid|publisher=Popular Science|accessdate=4 January 2017}}][{{cite web|last1=Solon|first1=Olivia|title=Swarm of tiny robots form 'liquid that thinks' (Wired UK)|url=http://www.wired.co.uk/news/archive/2012-12/18/swarm-robots|publisher=Wired UK|accessdate=4 January 2017|url-status=bot: unknown|archiveurl=https://web.archive.org/web/20121231000527/http://www.wired.co.uk/news/archive/2012-12/18/swarm-robots|archivedate=31 December 2012}}] The team raised funds via crowdfunding to build 1000 of these 'Droplets'.[{{cite web|title=Droplets – Swarm Robotics|url=http://www.colorado.edu/crowdfunding/?cfpage=project&project_id=10341|accessdate=4 January 2017}}] Infinite experiments due to a powered floor that doubles as global communication medium for swarm programming.[{{Cite web|url=http://robohub.org/droplets-a-low-cost-swarm-robotics-platform-for-teaching-and-experimentation/|title=Droplets: A low-cost swarm robotics platform for teaching and experimentation {{!}} Robohub|website=robohub.org|access-date=2018-05-30}}]
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| E-puck | distance, camera, bearing, accele, mic | wheel / 13 cm/s | 7.5 cm | 1-10 h | École Polytechnique Fédérale de Lausanne (EPFL), Switzerland | {{ya}}[{{cite web|title=e-puck|url=https://gna.org/projects/e-puck/|accessdate=7 January 2017|archive-date=10 March 2017|archive-url=https://web.archive.org/web/20170310134949/http://gna.org/projects/e-puck|url-status=dead}}] | {{ya}} | E-puck[Mondada, Francesco, et al. "The e-puck, a robot designed for education in engineering." Proceedings of the 9th conference on autonomous robot systems and competitions. Vol. 1. No. LIS-CONF-2009-004. IPCB: Instituto Politécnico de Castelo Branco, 2009.] is one of the most successful robots and was primarily designed for educational purposes. However, due to its simplicity, it is frequently employed in swarm robotics research as well. It has user replaceable batteries and an autonomy time of 2-4 h. | File:E-puck-mobile-robot-photo.jpg |
| Jasmine | distance, light, bearing | wheel, N/A | 3 cm | 1-2 h | University of Stuttgart, Germany | {{ya}}[{{cite web|title=Swarmrobot Open-source micro-robotic project|url=http://www.swarmrobot.org/download.html|website=www.swarmrobot.org|accessdate=7 January 2017}}] | {{ya}} | Jasmine[Kernbach, Serge, et al. "Re-embodiment of honeybee aggregation behavior in an artificial micro-robotic system." Adaptive Behavior 17.3 (2009): 237-259.] is a swarm robotic platform which was used in many swarm robotic researches. | File:RechargingSwarm.jpg |
| Kilobot | distance, light | vibration, 1 cm/s | 3.3 cm | 3 - 24 h | Harvard University, USA | {{ya}}[{{cite web|title=acornejo/kilobot-labs|url=https://github.com/acornejo/kilobot-labs|website=GitHub|accessdate=7 January 2017}}] | {{ya}}[{{cite web|title=Self-organizing Systems Research Group|url=http://www.eecs.harvard.edu/ssr/projects/progSA/kilobot.html|website=www.eecs.harvard.edu|accessdate=7 January 2017|url-status=dead|archiveurl=https://web.archive.org/web/20141026212516/http://www.eecs.harvard.edu/ssr/projects/progSA/kilobot.html|archivedate=26 October 2014}}] | Kilobot[Rubenstein, Michael, et al. "Kilobot: A low cost robot with scalable operations designed for collective behaviors." Robotics and Autonomous Systems 62.7 (2014): 966-975.] is a relatively recent swarm robotic platform with novel functions such as group charging and group programming. Due to its simplicity and low power consumption, it has a long autonomy time of up to 24 h. Robots are charged manually in groups in a special charging station. | |
| Kobot | distance, bearing, vision, compass | wheel, N/A | 12 cm | 10 h | KOVAN Research Lab, Middle East Technical University, Turkey | | | Kobot[Turgut, Ali E., et al. "Kobot: A mobile robot designed specifically for swarm robotics research." Middle East Technical University, Ankara, Turkey, METUCENG-TR Tech. Rep 5 (2007)] is a mobile robot specifically designed for swarm robotic research. It has several sensors that makes it an ideal platform for implementing various swarm robotic scenarios such as coordinated motion. It has approximately 10 h of autonomy time. It has a user replaceable battery which is recharged manually. It has been used in implementation of a self-organised flocking scenario.[Turgut, Ali E., et al. "Self-organized flocking in mobile robot swarms." Swarm Intelligence 2.2-4 (2008): 97-120.] | |
| Mona | distance, bump, range, RF | wheel, 5 cm/s | 6.5 cm | Perpetual | The University of Manchester, UK | {{ya}}[{{cite web|title=Mona Robot |url=http://monarobot.uk/|accessdate=8 March 2017}}] | {{ya}}[{{Cite web | url=https://github.com/MonaRobot/Mona-Platform | title=Mona robot's basic functions and test code in Arduino: MonaRobot/Mona-Platform| website=GitHub| date=2019-08-31}}] | Mona[F.Arvin, J. Espinosa, B. Bird, A. West, S.Watson, B.Lennox {{cite journal|title=Mona: an Affordable Open-Source Mobile Robot for Education and Research|journal=Journal of Intelligent & Robotic Systems|volume=94|issue=3–4|pages=761–775|doi=10.1007/s10846-018-0866-9|year=2018|last1=Arvin|first1=Farshad|last2=Espinosa|first2=Jose|last3=Bird|first3=Benjamin|last4=West|first4=Andrew|last5=Watson|first5=Simon|last6=Lennox|first6=Barry|s2cid=116022614|doi-access=free}}, Journal of Intelligent & Robotic Systems, 2018] is an open-source robot mainly designed to test the proposed Perpetual Robotic Swarm.[F.Arvin, S.Watson, A.E.Turgut, J. Espinosa, T.Krajník, B.Lennox "Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging", Journal of Intelligent & Robotic Systems, 2017] It has been designed as a modular platform allowing deployment of additional modules that are attached on top of the platform, such as wireless communication or a vision board. Latest version of the robot was developed as a robotic platform for education and research purposes. | File:Mona1.jpg |
| R-One | light, IR, gyro, bump, accelerometer | wheel, 30 cm/s | 10 cm | 6 h | Rice University, USA | {{ya}}[{{cite web|title=Multi-Robot Systems Lab - Rice University, Houston TX|url=http://mrsl.rice.edu/projects/r-one|website=mrsl.rice.edu|accessdate=4 January 2017|archive-date=29 May 2014|archive-url=https://web.archive.org/web/20140529051947/http://mrsl.rice.edu/projects/r-one|url-status=dead}}] | | R-one[McLurkin, James, et al. "A low-cost multi-robot system for research, teaching, and outreach." Distributed Autonomous Robotic Systems. Springer Berlin Heidelberg, 2013. 597-609.] is a low-cost Robot for research and teaching purposes. It was used in several study on swarm robotics. | |
| S-bot | light, IR, position, force, speed, temp, humidity, acc., mic | treels | 12 cm | 2 h | École Polytechnique Fédérale de Lausanne (EPFL), Switzerland | | | S-bot[Mondada, Francesco, et al. "SWARM-BOT: A new distributed robotic concept." Autonomous robots 17.2-3 (2004): 193-221.] is one of the most influential and capable swarm robotic platforms ever built. s-bots have a unique gripper design capable of gripping objects and other s-bots. They have an autonomy time of approximately 1 h. | |
| Spiderino | range, light, bearing (with extension) | six legs, 6 cm/s | 8 cm | 4-20 h | University of Klagenfurt, Austria | {{ya}}[{{cite web|title=Spiderino|url=https://spiderino.nes.aau.at//|accessdate=27 July 2020}}] | {{ya}} | Spiderino[Jdeed, Midhat, et al. "[http://mobile.aau.at/publications/jdeed-2017-Spiderino_low-cost_robot_for_swarm_research_and_educational_purposes.pdf Spiderino - a low-cost robot for swarm research and educational purposes]". In 13th Workshop on Intelligent Solutions in Embedded Systems (WISES 2017), pages 35–39, July 2017.] is a low-cost research robot based on the locomotion unit of a Hexbug spider toy. The modification replaces the robot head with a 3D-printed adapter, consisting of two parts to provide space for sensors, a larger battery, and a printed circuit board (PCB) with an Arduino microcontroller, Wi-Fi module, and motor controller. | |
| SwarmBot | range, bearing, camera, bump | wheel, 50 cm/s | 12.7 cm | 3 h | Rice University, USA | | | SwarmBot[McLurkin, James, et al. "[http://mrsl.rice.edu/sites/mrsl.rice.edu/files/papers/SS06-07-011.pdf Speaking Swarmish: Human-Robot Interface Design for Large Swarms of Autonomous Mobile Robots] {{Webarchive|url=https://web.archive.org/web/20170105001912/http://mrsl.rice.edu/sites/mrsl.rice.edu/files/papers/SS06-07-011.pdf |date=2017-01-05 }}". AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before. 2006.] is another successful platform developed for swarm robotics research. It has approximately 3 h of autonomy time and robots are able to find and dock to charging stations which are placed on walls. | |
Acoustic Swarm[{{Cite journal |last1=Itani |first1=Malek |last2=Chen |first2=Tuochao |last3=Yoshioka |first3=Takuya |last4=Gollakota |first4=Shyamnath |date=2023-09-21 |title=Creating speech zones with self-distributing acoustic swarms |journal=Nature Communications |language=en |volume=14 |issue=1 |pages=5684 |doi=10.1038/s41467-023-40869-8 |issn=2041-1723|doi-access=free |pmid=37735445 |pmc=10514314 |bibcode=2023NatCo..14.5684I }}]
|microphone, speaker, IMU
|wheel, 44 cm/s
|3 cm
|1-3 h
|University of Washington, USA
|{{ya}}[{{Cite web |title=Acoustic swarm robots |website=GitHub |url=https://github.com/uw-x/AcousticSwarms-Robots |access-date=2023-09-22}}]
|{{ya}}
|Acoustic swarm[{{Cite web |title=Creating Speech Zones Using Self-distributing Acoustic Swarms |url=https://acousticswarm.cs.washington.edu/ |access-date=2023-09-22 |website=acousticswarm.cs.washington.edu}}] is a platform where tiny robots cooperate with each other using acoustic signals to navigate with centimeter-level accuracy. The swarm devices spread out across a surface as well as navigate back to the charging station where they can be recharged.
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