Using Smart Cameras to Localize Self-Assembling Modular Robots

Babak Shirmohammadi, Camillo J. Taylor, Mark Yim, Jimmy Sastra, Mike Park
2007 2007 First ACM/IEEE International Conference on Distributed Smart Cameras  
to using self localizing smart camera systems to provide this In order to realize the goal of self assembling or self recon-positioning information. figuring modular robots the constituent modules in the sys-In this paper we describe how self localization techniques tem need to be able to gauge their position and orientation originally developed for automatically localizing collections with respect to each other. This paper describes an approach of distributed smart cameras [1] can be adapted
more » ... localize to solving this localization problem by equipping each of the modular robotic components and, hence, to facilitate these modules in the ensemble with a smart camera system. The pa-types of self assembly operations. In the proposed scheme, per describes one implementation of this scheme on a modu-each of the modular components is equipped with a smart lar robotic system and discusses the results of a self assembly camera system and a controllable light source. The modules experiment. use the lights to signal to each other and they determine their Index Terms-Smart Cameras, Localization, Modular relative pose from the available image measurements.
doi:10.1109/icdsc.2007.4357508 dblp:conf/icdsc/ShirmohammadiYSPT07 fatcat:r4o5brzzyjhyfhgzjmfufy3fca