The e-Puck Range & Bearing board (e-RandB) improves the existing relative localization/communication software library (libIrcom) developed for the e-puck robot and based on its on-board infrared sensors.
The e-RandB has been developeed in collaboration with Robolabo, Iridia and RBZ Robot Design.
The board allows situated agents to communicate locally, obtaining at the same time both the range and the bearing of the emitter without the need of any centralized control or any external reference. Therefore, the board allows the robots to have an embodied, decentralized and scalable communication system. The system relies on infrared communications with frequency modulation and is composed of two interconnected modules for data and power measurement.

The board can communicate with the e-puck through the Uart or I2C bus. It allows the user to select one of the two buses depending on which is already used by other extension modules. However, different frame rates are achieved depending on the communicaton bus. With the actual software version we are obtaining a 50 msg/sec with the Uart bus while 150 msg/sec for the I2C, where each message is made up of a 6 bits header, 16 bits for data and 4 bits crc. All the information about the e-RandB is provided here.

The e-RandB board is actually used at:
ROBOLABO, ETSI Telecomunicación, Universidad Politécnica de Madrid, Madrid, Spain
IRIDIA, CoDE, Université Libre de Bruxelles, Bruxelles, Belgium
IDSIA, University of Applied Sciences of Southern Switzerland, Manno-Lugano, Switzerland
LARAL, Institute of Cognitive Sciences and Technologies, CNR, Rome, Italy