Reconfigurable multi robot society based on LEGO mindstorms

Abstract: Reconfigurable multirobot societies is a young area of robotics that
promises versatility, robustness and low cost as is relies on a society of
multiple robots that will be able to perform an immeasurable amount of
different tasks, tasks that not even were thought of at design time. In
order to create a new reconfigurable multi robot society from scratch that
could be developed fast and with low costs, it was opted to create a
prototype from LEGO Mindstorms NXT equipment, complemented with some
expansion electronics developed to expand the capabilities of the existing
LEGO Mindstorms NXT system. This work describes the successful creation of
a reconfigurable multi robot society based on the LEGO Mindstorms NXT
systems, as well as the description of two prototypes that were created on
the way and were not successful.