PHRO: a novel and low-cost multi-robot experiment system

In this paper, we describe the implementation of the PHRO system, which enables students and engineers to conduct multi-robot research using Simulink and Android smarlphones. This system also shortens the robot control algorithm verification process. The NIKO hardware is based on a 32-hit ARM microprocessor and includes an extension hoard and a motherboard. The extension board is designed for a motor driver and other capacity expansions. The motherboard has sensors and power management and provides wireless networking capability, which can he used to communicate with standard cellphones. A wireless system enables powerful calculations and system control over a wireless network without the need for specialized embedded systems, significantly reducing the cost of the system. Simulink is one of the most important software plug-ins in MATLAB and is widely used by scientists and students. A version of Simulink can he downloaded onto smartphones and used to validate the robot's simulating algorithm.