MICAbot: a robotic platform for large-scale distributed robotics

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Abstract
This paper presents a novel robotic platform for experimental research in large-scale distributed robotics and mobile sensor networks. The MICAbot is both inexpensive and flexible making it useful for a wide range of experimental goals. In this paper, we provide a description of the MICAbot design. Furthermore, we also discuss general design consid- erations involved in designing large-scale distributed robots focusing on cost, size, and functionality. I. INTRODUCTION This paper presents a novel centimeter-scale robotic platform for research in large-scale distributed robotics and mobile sensor networks. The high cost and the large size of available platforms made experimentation in large- scale distributed robotics infeasible. The MICAbot is a small low-cost robot that provides the functionality needed for useful experimentation. MICAbots are small enough that experiments involving large groups of robots can be preformed in a standard laboratory. Furthermore, they can host a wide range of modular sensors making it attractive for a range of experimental goals. New technological progress toward smaller devices has spurred interested in large-scale networks and has shown that new research in this area is needed. Cur-

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