We noticed today that notochord was only using about 12% CPU and a few % of RAM so I wondered if a pi zero would cope with it. I was bored this evening so gave it a go and so far it seems to work perfectly!
Building the source code took a while, obviously, as the pi zero only has one core vs the four cores of the pi 3 B+.
The only change from the wiki docs for pi setup I did was running
scons -j3 debug=1
I've only tried one kceptor but I'll try a full suit tomorrow and report back.
EDIT: Oh! And, of course, you need the Rasbian Stretch Lite OS!