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An essential problem of swarm robotics is how members of the swarm knows thepositions of other robots. The main aim of this research is to develop acost-effective and simple vision-based system to detect the range, bearing, andheading of the robots inside a swarm using a multi-purpose passive landmark. Asmall Zumo robot equipped with Raspberry Pi, PiCamera is utilized for theimplementation of the algorithm, and different kinds of multipurpose passivelandmarks with nonsymmetrical patterns, which give reliable information aboutthe range, bearing and heading in a single unit, are designed. By comparing therecorded features obtained from image analysis of the landmark throughsystematical experimentation and the actual measurements, correlations areobtained, and algorithms converting those features into range, bearing andheading are designed. The reliability and accuracy of algorithms are tested anderrors are found within an acceptable range.

Design of a vision based range bearing and heading system for robot swarms