The Khepera IV Mobile Robot: Performance Evaluation, Sensory Data and Software Toolbox

  • Jorge M. SoaresEmail author
  • Iñaki Navarro
  • Alcherio Martinoli
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 417)


Taking distributed robotic system research from simulation to the real world often requires the use of small robots that can be deployed and managed in large numbers. This has led to the development of a multitude of these devices, deployed in the thousands by researchers worldwide. This paper looks at the Khepera IV mobile robot, the latest iteration of the Khepera series. This full-featured differential wheeled robot provides a broad set of sensors in a small, extensible body, making it easy to test new algorithms in compact indoor arenas. We describe the robot and conduct an independent performance evaluation, providing results for all sensors. We also introduce the Khepera IV Toolbox, an open source framework meant to ease application development. In doing so, we hope to help potential users assess the suitability of the Khepera IV for their envisioned applications and reduce the overhead in getting started using the robot.


Mobile Robot Inertial Measurement Unit Infrared Sensor Indoor Navigation Speed Command 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Jorge M. Soares
    • 1
    • 2
    Email author
  • Iñaki Navarro
    • 1
  • Alcherio Martinoli
    • 1
  1. 1.Distributed Intelligent Systems and Algorithms LaboratoryÉcole Polytechnique Fédérale de Lausanne (EPFL)LausanneSwitzerland
  2. 2.Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior TécnicoUniversity of LisbonLisbonPortugal

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