| | Name of robot | Sensors used | Actuation mechanism |
| | Khepera [21] | Infrared sensors, wheel encoders | DC motors | | Alice [22] | Infrared sensors | Bidirectional motors | | S-bot [23] | Infrared sensors, humidity sensor, torque sensor, microphone, temperature sensor, camera, wheel encoder, radio | DC motors | | Jasmine [24] | Infrared sensors | DC motors | | Kobot [25] | Infrared sensors, XBee | DC motors | | E-puck [7] | Infrared sensors, accelerometer, camera, microphone | Stepper motors | | MarXbot [26] | Infrared sensors, accelerometer and gyroscope, force sensor, camera, bluetooth, WiFi, RFID reader | Rotational motors | | Kilobot [10] | Infrared sensors, light sensor | Vibration motors | | Thymio II [27] | Infrared sensors, accelerometer, capacitive touch sensor, temperature sensor, microphone | DC motors | | Droplet [28] | Infrared sensors | Vibration motors | | GRITSBot [29] | Infrared sensors, accelerometer and gyroscope, battery voltage sensor | Stepper motors | | Pheeno [13] | Infrared sensors, accelerometer, wheel encoder, camera, magnetometer, WiFi | DC motors | | HoverBot [30] | Infrared sensors, hall-effect sensors | Planar coils | | Colias IV [16] | Infrared light, ambient light, CMOS camera, MEMS microphone, 9-DOF IMU | DC motors | | Mona [12] | Infrared sensors | DC motor | | Proposed robot | RGB color, infrared, light intensity, three-axis magnetometer, WiFi, Bluetooth | Micrometal DC gear motors |
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CMOS, complementary metal-oxide semiconductor; DOF, degree of freedom; IMU, inertial measurement unit; MEMS, micro-electromechanical system; RFID, radio frequency identification.
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