Um projeto open source muito bem documentado.
Formica: Affordable, open source swarm robotics
The Formica project began as a group project in the fourth-year Biologically Inspired Robotics module of the electronic engineering course at Southampton University. Formica was conceived and developed by Rob Spanton, Steve English, Alexis Johnson, Jo Sun and me, Jeff Gough. The project takes its name from the latin word for ants, as the robots were developed to explore the behaviour of social insects.
(https://lusorobotica.com/proxy.php?request=http%3A%2F%2Ffarm3.static.flickr.com%2F2127%2F2494007526_9ef48fd444.jpg%3Fv%3D0&hash=4bb1839afe7a5e1881ede7c63b658b5b8ff8fb51)
+ info aqui : http://warrantyvoidifremoved.com/formica (http://warrantyvoidifremoved.com/formica)