Abstract-This paper presents the Pi-puck extension board -an interface between the e-puck robot platform and a Raspberry Pi single-board computer that enhances the processing power, memory capacity, and networking capabilities of the robot at a low cost. It allows high-level control algorithms, wireless communication, and computationally expensive operations such as real-time image processing to be handled by a Raspberry Pi, while the e-puck's microcontroller deals with low-level motor control and sensor interfacing.Although two similar extension boards for the e-puck robot platform already exist, they are now out-dated and expensive in comparison. Our open-source hardware design and supporting software infrastructure offer an inexpensive upgrade to the e-puck robot, transforming it into the Pi-puck -a modern and flexible new platform for mobile robotics research.

Despite growing interest in collective robotics over the past few years, analysing and debugging the behaviour of swarm robotic systems remains a challenge due to the lack of appropriate tools. We present a solution to this problem-ARDebug: an open-source, cross-platform, and modular tool that allows the user to visualise the internal state of a robot swarm using graphical augmented reality techniques. In this paper we describe the key features of the software, the hardware required to support it, its implementation, and usage examples. ARDebug is specifically designed with adoption by other institutions in mind, and aims to provide an extensible tool that other researchers can easily integrate with their own experimental infrastructure.

With recent advances in non-volatile memory technologies and embedded hardware, large, high-speed persistent-storage devices can now realistically be used in embedded systems. Traditional models of storage systems, including the implementation in the Linux kernel, assume the performance of storage devices to be far slower than CPU and system memory speeds, encouraging extensive caching and buffering over direct access to storage hardware. In an embedded system, however, processing and memory resources are limited while storage hardware can still operate at full speed, causing this balance to shift, and leading to the observation of performance bottlenecks caused by the operating system rather than the speed of storage devices themselves. In this paper, we present performance and profiling results from high-speed storage devices attached to a Linux-based embedded system, showing that the kernel's standard file I/O operations are inadequate for such a set-up, and that `direct I/O' may be preferable for certain situations. Examination of the results identifies areas where potential improvements may be made in order to reduce CPU load and increase maximum storage throughput.

This paper presents a hardware revision of the Pi-puck extension board that now includes support for the e-puck2. This Raspberry Pi interface for the e-puck robot provides a feature-rich experimentation platform suitable for multi-robot and swarm robotics research. We also present a new expansion board that features a 9-DOF IMU and XBee interface for increased functionality. We detail the revised Pi-puck hardware and software ecosystem, including ROS support that now allows mobile robotics algorithms and utilities developed by the ROS community to be leveraged by swarm robotics researchers. We also present the results of an illustrative multi-robot mapping experiment using new longrange Time-of-Flight distance sensor modules, to demonstrate the ease-of use and efficacy of this new Pi-puck ecosystem.

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