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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA23-07517S" target="_blank" >GA23-07517S: Agilní roje létajících robotů se spolehlivým multimodálním vnímáním a estimací svého stavu</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

1872-793X

Svazek periodika

194

Číslo periodika v rámci svazku

December

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

9

Strana od-do

—

Kód UT WoS článku

001573114600001

EID výsledku v databázi Scopus

2-s2.0-105015604917