DISAL’s Contributions to the Design and Development of the e-puck Robot

A joint effort between the Autonomous Systems Laboratory (ASL), the Swarm-Intelligent Systems Group (SWIS), and the Laboratory of Intelligent Systms (LIS), the e-puck was designed to be a robust and powerful miniature robotic platform inexpensive enough to allow extensive classroom use. Hands-on experience with the real robots is afforded to students in several courses at EPFL, including Swarm Intelligence.

All of the information related to the design and production of the e-puck and its associated tools has been made available under an open hardware license from the e-puck website.

The radio communication module

An additional turret has been developed to allow radio communication between e-pucks and with other 802.15.4/ZigBee devices. It is fully inter-operable with the MICAz sensor nodes as well as any other devices using TinyOS in the 2.4GHz band. A custom attenuation circuit was also included to reduce the effective range of the radio transmitter to a software controllable value between approximately 10cm and 5m, allowing us to build interesting network topologies even within the relatively close confines of a laboratory arena.

Team and Collaborators





The e-puck, a Robot Designed for Education in Engineering

F. Mondada; M. Bonani; X. Raemy; J. Pugh; C. Cianci et al. 

2009. 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, May 7, 2009. p. 59-65.


Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

C. M. Cianci; X. Raemy; J. Pugh; A. Martinoli 

2007. Simulation of Adaptive Behavior (SAB-2006), Swarm Robotics Workshop, Rome, Italy, October, 2006. p. 103-115. DOI : 10.1007/978-3-540-71541-2_7.