TITLE:
Motion Localization with Optic Flow for Autonomous Robot Teams and Swarms
AUTHORS:
Andrew K. Massimino, Donald A. Sofge
KEYWORDS:
Localization, Optic Flow, Robot Team, Swarm, Situational Awareness
JOURNAL NAME:
Journal of Computer and Communications,
Vol.6 No.1,
January
8,
2018
ABSTRACT: 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.