The small size of miniature robots poses great challenges for the mechanical and electrical design and the implementation of autonomous capabilities. In this paper, the mechanical and electrical design for a two-wheeled cylindrical miniature autonomous robot ("BMS-1", BIT MicroScout-1) is presented and some autonomous capabilities are implemented by multiple sensors and some arithmetic models. Several experimental results show that BMS-1 is useful for surveillance in confined spaces and suitable for large-scale surveillance due to some autonomous capabilities.
