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Comparing options
All boards are quite small—about 8 cm wide, 5 cm high, and 2 cm thick (without a box). More powerful hardware will have bigger dimensions (for example, Intel NUC is 35 x 25 x 4 cm).
The most significant parameter is connectivity options, as not all the boards support Wi-Fi or Bluetooth. GSM, GPS, a camera, an FM module, and other features common for mobile phones are usually not available either, and one needs to buy them separately.
Another important parameter is the number of connectors for sensors. One needs to understand what sensors are required and whether they are compatible with a chosen board. The number of pins can be extended by connecting special additional boards to the existing ones.