Abstract
Large assemblies of extremely simple robots capable only of basic motion activities (like propelling forward or self-rotating) are often applied to study swarming behavior or implement various phenomena characteristic of active matter composed of non-equilibrium particles that convert their energy to a directed motion. As a result, a great abundance of compact swarm robots have been developed. The simplest are bristle-bots that self-propel via converting their vibration with the help of elastic bristles. However, many platforms are optimized for a certain class of studies, are not always made open-source, or have limited customization potential. To address these issues, we develop the open-source Swarmodroid 1.0 platform based on bristle-bots with reconfigurable 3D printed bodies and simple electronics that possess external control of motion velocity and demonstrate basic capabilities of trajectory adjustment. Then, we perform a detailed analysis of individual Swarmodroids' motion char