This is a larger IG32 gear motor robot that utilizes three omni-wheels to vector it in any direction. By changing the speeds and directions of the motors the robot can drive in any direction without needing to turn.
Mount beacons on walls or ceilings to measure distance to other beacons and “hedgehog” using ultrasonic pulses. They communicate with router wirelessly in ISM band. Powered by LiPo battery or USB. The beacon has a built in Inertial Measurement Unit (IMU).