e-puck range and bearing turret
The e-puck range and bearing turret improves the relative localization and communication capabilities of the e-puck robot based on its on-board infrared sensors.
This turret 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 turret 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. It communicates with the e-puck through the UART or I2C bus.
More information is available here.