Motion Localization with Optic Flow for Autonomous Robot Teams and Swarms

• 作者: Andrew K. Massimino Donald A. Sofge
• 来源期刊: 电脑和通信(英文)
• 学科: 数学
• 关键词: LOCALIZATION OPTIC FLOW Robot Team SWARM Situational Awareness
• 年，卷（期）: 2018,（1）
• 页码范围: 265-274
• 页数: 10页
• 分类号: O1

摘要

The ability to localize moving objects within the environment is critical for autonomous robotic systems. This paper describes a moving object detection and localization system using multiple robots equipped with inexpensive optic flow sensors. We demonstrate an architecture capable of detecting motion along a plane by collecting three sets of one-dimensional optic flow data. The detected object is then localized with respect to each of the robots in the system.