This paper describes the Pogobot, an open-source and open-hardware platform specifically designed for research involving swarm robotics. Pogobot features vibration-based locomotion, infrared communication, and an array of sensors in a cost-effective package (approx. 250~euros/unit). The platform's modular design, comprehensive API, and extensible architecture facilitate the implementation of swarm intelligence algorithms and distributed online reinforcement learning algorithms. Pogobots offer an accessible alternative to existing platforms while providing advanced capabilities including directional communication between units. More than 200 Pogobots are already being used on a daily basis at Sorbonne Universit\'e and PSL to study self-organizing systems, programmable active matter, discrete reaction-diffusion-advection systems as well as models of social learning and evolution.

本研究解决了群体机器人研究中的平台可获取性问题，提出了一种名为波戈机器人的开源硬件平台。该平台具备振动驱动、红外通信和多种传感器，支持群体智能算法及分布式在线强化学习，具有较大的潜在影响，已在多个研究项目中实际应用。

波戈机器人——一种开源开放硬件的低成本群体机器人