A LEGO Mindstorms NXT based multirobot system

Lego Mindstorms robots kits are popular hands-on robotics tools for math, science and engineering education. The recently developed NXT system is much more powerful than the previous RCX system, and has great potential for scholarly research. In this paper, we investigated and tested the capabilities and limitations of NXT system for its application to multirobot systems. To demonstrate our work, a functional prototype has been constructed and used to verify a swarm intelligence based algorithm.