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The current state of electronic component miniaturization coupled with theincreasing efficiency in hardware and software allow the development of smallerand compact robotic systems. The convenience of using these small, simple, yetcapable robots has gathered the research community's attention towardspractical applications of swarm robotics. This paper presents the design of anovel platform for swarm robotics applications that is low cost, easy toassemble using off-the-shelf components, and deeply integrated with the mostused robotic framework available today: ROS (Robot Operating System). Therobotic platform is entirely open, composed of a 3D printed body andopen-source software. We describe its architecture, present its main features,and evaluate its functionalities executing experiments using a couple ofrobots. Results demonstrate that the proposed mobile robot is very effectivegiven its small size and reduced cost, being suitable for swarm roboticsresearch and education.

HeRo 2.0: A Low-Cost Robot for Swarm Robotics Research