Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot

TL;DR

This paper introduces a relative localization system for SnailBot, combining ArUco markers, optical flow, and IMU data to enable accurate, real-time positioning in modular robots.

Contribution

It presents a novel fusion framework integrating multiple sensors for robust relative localization in self-reconfigurable robots.

Findings

System achieves accurate real-time localization in dynamic scenarios.

Fusion strategy enhances reliability and robustness.

Experimental results demonstrate scalability and effectiveness.

Abstract

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.