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OpenSwarm v0.15.09.22

This version of OpenSwarm provides all features mentioned in a ICRA submission. These are:

  • preemptive threadded execution
  • cooperative event-based execution
  • inter-process communication through events
  • Hardware: Motors, Infra-red remote control receiver, camera, I²C

Known Bugs:

  • If many hardware interrupts occur, the operating system ends up by chance in a Stack/Adress trap. (currently investigating the problem)
  • Not all event handler seem to be executed when multiple event handler are registered to an event. (currently investigating the problem)


  • add support of proximity sensors
  • add support of microphones
  • add support of speakers
  • integrate a communication protocol that uses proximity sensors to communicate
  • integrate a full Bluetooth support