mROBerTO: A modular millirobot for swarm-behavior studies. Kim, J. Y., Colaco, T., Kashino, Z., Nejat, G., & Benhabib, B. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 2109–2114, Daejeon, Korea, October, 2016.
doi  abstract   bibtex   
Millirobots have increasingly become popular over the past several years, especially for swarm-behavior studies, allowing researchers to run experiments with a large number of units in limited workspaces. However, as these robots have become smaller in size, their sensory capabilities and battery life have been reduced. A number of these have also been customized, with few off-the shelf components, exhibiting integral (i.e., non-modular) designs. In response to the above concerns, this paper presents a novel open-source millirobot with a modular design based on the use of easily sourced elements and off-the-shelf components. The proposed milli-robot-Toronto (mROBerTO), is a 16×16 mm2 robot with a variety of sensors (including proximity, IMU, compass, ambient light, and camera). mROBerTO is capable of formation control using an IR emitter and detector add-on. It can also communicate via Bluetooth Smart, ANT+, or both concurrently. It is equipped with an ARM processor for handling complex tasks and has a flash memory of 256 KB with over-the-air programming capability.
@inproceedings{kim_mroberto:_2016,
	address = {Daejeon, Korea},
	title = {{mROBerTO}: {A} modular millirobot for swarm-behavior studies},
	copyright = {All rights reserved},
	shorttitle = {{mROBerTO}},
	doi = {10.1109/IROS.2016.7759331},
	abstract = {Millirobots have increasingly become popular over the past several years, especially for swarm-behavior studies, allowing researchers to run experiments with a large number of units in limited workspaces. However, as these robots have become smaller in size, their sensory capabilities and battery life have been reduced. A number of these have also been customized, with few off-the shelf components, exhibiting integral (i.e., non-modular) designs. In response to the above concerns, this paper presents a novel open-source millirobot with a modular design based on the use of easily sourced elements and off-the-shelf components. The proposed milli-robot-Toronto (mROBerTO), is a 16×16 mm2 robot with a variety of sensors (including proximity, IMU, compass, ambient light, and camera). mROBerTO is capable of formation control using an IR emitter and detector add-on. It can also communicate via Bluetooth Smart, ANT+, or both concurrently. It is equipped with an ARM processor for handling complex tasks and has a flash memory of 256 KB with over-the-air programming capability.},
	booktitle = {Proceedings of the {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
	author = {Kim, J. Y. and Colaco, T. and Kashino, Z. and Nejat, G. and Benhabib, B.},
	month = oct,
	year = {2016},
	keywords = {Cameras, Robot vision systems, Wheels, formation control, mROBerTO, mobile robots, modular millirobot, novel open-source millirobot, swarm-behavior studies},
	pages = {2109--2114},
}

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