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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2507.19100 |
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| _version_ | 1866916870538395648 |
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| author | Kang, Taewon Kwon, Ji-Wook Bae, Il Kim, Jin Hyo |
| author_facet | Kang, Taewon Kwon, Ji-Wook Bae, Il Kim, Jin Hyo |
| contents | Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_19100 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations Kang, Taewon Kwon, Ji-Wook Bae, Il Kim, Jin Hyo Robotics Systems and Control Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments. |
| title | Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2507.19100 |