By the same authors

The Pi-puck Ecosystem: Hardware and Software Support for the e-puck and e-puck2

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Publication details

Title of host publicationSwarm Intelligence. ANTS 2020.
DatePublished - 23 Oct 2020
Number of pages13
Place of PublicationCham
EditorsMarco Dorigo , Thomas Stützle, Maria J. Blesa, Christian Blum, Heiko Hamann, Mary Katherine Heinrich, Volker Strobel
Original languageEnglish
ISBN (Electronic)9783030603762

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743


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.

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