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.
Abstract (translated)
本文介绍了SnailBot（一种模块化自重构机器人）相对定位系统的设计与实现。该系统将ArUco标记识别、光学流分析和惯性测量单元(IMU)数据处理整合到一个统一的融合框架中，从而实现了协作机器人任务中的稳健且精确的相对定位。实验验证表明，该系统在实时操作中表现有效，并通过基于规则的融合策略确保了其在动态场景下的可靠性。研究结果突显了该技术在模块化机器人系统中可扩展部署的潜力。
URL
https://arxiv.org/abs/2512.21226
