Open-hardware e-puck Linux extension board for experimental swarm robotics research

Liu, W. and Winfield, A. F. (2011) Open-hardware e-puck Linux extension board for experimental swarm robotics research. Microprocessors and Microsystems, 35 (1). pp. 60-67. ISSN 0141-9331 Available from:

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In this paper we describe the implementation of a Linux extension board for the e-puck educational mobile robot, designed to enhance the computation, memory and networking performance of the robot at very low cost. The extension board is based on a 32-bit ARM9 microprocessor and provides wireless network support. The ARM9 extension board runs in parallel with the dsPIC microprocessor on the e-puck motherboard with communication between the two via an SPI bus. The extension board is designed to handle computationally intensive image processing, wireless communication and high-level intelligent robot control algorithms, while the dsPIC handles low-level sensor interfacing, data processing and motor control. The extension board runs an embedded Linux operating system, along with a Debian-based port of the root file system stored in a Micro SD card. The extended e-puck robot platform requires minimal effort to integrate the well-known open-source robot control framework Player and, when placed within a TCP/IP networked infrastructure, provides a powerful and flexible platform for experimental swarm robotics research.

Item Type:Article
Uncontrolled Keywords:swarm robotics, mobile robotics, embedded Linux
Faculty/Department:Faculty of Environment and Technology
ID Code:21146
Deposited By: Dr W. Liu
Deposited On:05 Sep 2013 14:26
Last Modified:22 Aug 2017 09:03

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