Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot
This addresses the need for reliable relative positioning in collaborative modular robotic systems, though it appears incremental as it combines existing techniques.
The paper tackled the problem of relative localization for modular self-reconfigurable robots by integrating ArUco markers, optical flow, and IMU data into a fusion framework, achieving robust and accurate positioning validated in real-time experiments.
This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a unified fusion framework, enabling robust and accurate relative positioning for collaborative robotic tasks. Experimental validation demonstrates the effectiveness of the system in realtime operation, with a rule based fusion strategy ensuring reliability across dynamic scenarios. The results highlight the potential for scalable deployment in modular robotic systems.