Physical

• Footprint: Less than 100 sqcm (16 sqin).
• Based on a free range area of about 20*size, 15 cars would fit on our 4x8 ft experiment table.
  
• Power: Batteries should be rechargeable without removal.
• Motion: Forward, backward, and 360deg turns within the footprint, on a 'safe' flat surface.
• This probably implies differential motor drive for steering.
• Speed: Two to four steps with the maximum being in the region of 25 cm/sec.
• Turn speed comensurate with drive speeds.
  

Processor

• Power: Eqivalent to Basic Stamp, Lego H8, or Pic 7x series micro-contrllers.
• Operating System: Bios level threaded system with filtered access to all sensors and motors.
• Development System: C or Java cross development system on Win2000 or Solaris host.

Communication

• Program: Download may be hardwire, serial, ftp, etal.
• Runtime: Bi-direction radio link to Win2000 or Solaris host.
• Speed upwards of 2400 baud.
• Reliable over 20-50 feet.
  
• Should be multi-channel to support at least 16 simultaneous devices.

Sensors

• Proximity: Four to eight sensors.
• Bumpers or close range I/R, sonar, etc.
• Travel: Relative distance and speed sensor, independent of motor drive.
• Resolution and accuracy of +/-.5 cm over 20 cm -- i.e. +/-2.5% max.
• See Travel Accuracy below.
• Heading: Relative or true compass direction sensor.
• Resolution and accuracy of +/-6 deg over 360 deg -- i.e. +/-1.5% max.
• See Travel Accuracy below.
• Power: Battery voltage sensor.
• Battery current, both charge and draw, is optional but desireable.
• Deceleration: A shock/crash sensor to detect collisions as opposed to contacts.
• Ideally an analog X-Y accelerometer measurement. But binary will do....