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Mutual relative localization and identification is an important feature forthe stabilization and navigation of multi-Unmanned Aerial Vehicle (UAV)systems. Camera-based communications technology, also referred to as OpticalCamera Communications (OCC) in the literature, is a novel approach that couldbring a valuable solution to such a complex task. In such system, the UAVs areequipped with LEDs that act as beacons and with cameras allowing them to locatethe LEDs of other UAVs. Specific blinking sequences are assigned to the LEDs ofeach of the UAVs in order to uniquely identify them. This camera-based relativelocalization and identification system is immune to Radio Frequency (RF)electromagnetic interference and operates in Global Navigation satellite (GNSS)denied environments. In addition, since many UAVs are already equipped withcameras, the implementation of this system is inexpensive. In this article, westudy in detail the capacity of this system and its limitations. Furthermore,we show how to construct blinking sequences for UAV LEDs in order to improvesystem performance. Finally, experimental results are presented to corroboratethe analytical derivations.

Optical communication-based identification for multi-UAV systems: theory and practice