In this paper, structure-borne vibrations in a one-dimensional structure are examined as a means of communication and sensing for networks of robots. The concept is inspired by the observation that insects may use structural vibrations to communicate and to detect features of their environment. A 12 × 5 × 6 cm mobile robot capable of traversing an acoustically favorable structure is presented. A technique for measuring distance between robots and communicating commands to robots using vibrations generated on a common one-dimensional substrate are presented, and demonstrated through preliminary experimental results. Design considerations for this type of system are also discussed.

The TinyTeRP is a small, low-cost, modular robotics platform used to study robot sensing and control in large numbers of miniature robots. A fully assembled TinyTeRP costs approximately $50, is 1.7 × 1.8 × 2 cm3, and can move at speeds up to 50 cm/s. The robot is designed around a wheeled platform onto which different circuit boards can be stacked providing hardware modularity. The base module integrates a microcontroller with an 802.15.4 radio used for both sensing and communication between robots. An inertial sensing module used to improve single robot control is provided as an example of an additional sensing board. A simple `rendezvous' algorithm using received signal strength indicator (RSSI) data from the radio illustrates a distributed control algorithm with the TinyTeRP.