Abstract
This paper presents a hardware revision of the Pi-puck extension board that now includes support for the e-puck2. This Raspberry Pi interface for the e-puck robot provides a feature-rich experimentation platform suitable for multi-robot and swarm robotics research. We also present a new expansion board that features a 9-DOF IMU and XBee interface for increased functionality. We detail the revised Pi-puck hardware and software ecosystem, including ROS support that now allows mobile robotics algorithms and utilities developed by the ROS community to be leveraged by swarm robotics researchers. We also present the results of an illustrative multi-robot mapping experiment using new long-range Time-of-Flight distance sensor modules, to demonstrate the ease-of use and efficacy of this new Pi-puck ecosystem.
Cite
CITATION STYLE
Allen, J. M., Joyce, R., Millard, A. G., & Gray, I. (2020). The Pi-puck Ecosystem: Hardware and Software Support for the e-puck and e-puck2. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 12421 LNCS, pp. 243–255). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-60376-2_19
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