Swarm robots, which are inspired from the way insects behave collectively in order to achieve a common goal, have become a major part of research with applications involving search and rescue, area exploration, surveillance etc. In this paper, we present a swarm of robots that do not require individual extrinsic sensors to sense the environment but instead use a single central camera to locate and map the swarm. The robots can be easily built using readily available components with the main chassis being 3D printed, making the system low-cost, low-maintenance, and easy to replicate. We describe Zutu's hardware and software architecture, the algorithms to map the robots to the real world, and some experiments conducted using four of our robots. Eventually, we conclude the possible applications of our system in research, education, and industries.

翻译：群体机器人受昆虫群体协作实现共同目标的启发，已成为搜索救援、区域勘探、监控等应用领域的重要研究方向。本文提出一种无需个体外部传感器感知环境的机器人群体系统，仅通过单个中央摄像头完成群体定位与地图构建。机器人主体采用3D打印技术，使用市售标准组件即可轻松组装，具有低成本、低维护、易复制的特点。本文详细阐述了Zutu的硬件与软件架构、机器人到真实世界的映射算法，以及基于四台机器人开展的实验验证。最后，本文总结了该系统在研究、教育与工业领域的潜在应用价值。