This is a set of wheelchair motors and make great heavy duty robot motors. One left motor and one right motor. They are right angle gear drives with a release and electric brakes. They are 24VDC and the operating speed is 120 RPM.
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).