Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00385246" target="_blank" >RIV/68407700:21230/25:00385246 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.robot.2025.105175" target="_blank" >https://doi.org/10.1016/j.robot.2025.105175</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2025.105175" target="_blank" >10.1016/j.robot.2025.105175</a>

Result language
angličtina
Original language name
Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization
Original language description
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the robustness of relative localization for aerial vehicles in tightly coupled multi-robot systems during real-world deployments, while also serving as a resilient communication system. Traditional tracking algorithms struggle with fast-moving blinking markers due to their intermittent appearance in camera frames and the complexity of associating multiple of these markers across consecutive frames. AMT addresses this by using weighted polynomial regression to predict the future appearance of active blinking markers while accounting for uncertainty in the prediction. In outdoor experiments, the AMT approach outperformed state-of-the-art methods in tracking density, accuracy, and complexity. The experimental validation of this novel tracking approach for relative localization and optical communication involved testing motion patterns motivated by our research on agile multi-robot deployment.
Czech name
—
Czech description
—

Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/GA23-07517S" target="_blank" >GA23-07517S: Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)