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The interaction of an autonomous mobile robot with the real world critically depends on the robots morphology and on its environment. Building a model of these aspects is extremely complex, making simulation insufficient for accurate validation of control algorithms.

If simulation environments are often very efficient, the tools for experimenting with real robots are often inadequate. The traditional programming languages and tools seldom provide enought support for real-time experiments, thus hindering the understanding of the control algorithms and making the experimentation complex and time-consuming.

A miniature robot is presented: it has a cylindrical shape measuring 55 mm in diameter and 30 mm in height. Due to its small size, experiments can be performed quickly and cost-effectively in a small working area. Small peripherals can be designed and connected to the basic module and …