A low-cost real-time tracking infrastructure for ground-based robot swarms
Millard, A., Hilder, J., Timmis, J. and Winfield, A. F. (2014) A low-cost real-time tracking infrastructure for ground-based robot swarms. In: Dorigo, M., Birattari, M., Garnier, S., Hamann, H., Montes de Oca, M., Solnon, C. and Stützle, T., eds. (2014) Swarm Intelligence, 9th International Conference, ANTS 2014. (8667) Springer, pp. 278-279. ISBN 978-3-319-09951-4 Available from: http://eprints.uwe.ac.uk/26144
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Publisher's URL: http://www.springer.com/us/book/9783319099514
A tracking infrastructure is a useful tool for swarm robotics research, and has many potential applications. Unfortunately, for many research laboratories, constructing one may be prohibitively expensive. In this paper we present a low-cost tracking infrastructure that was built at the York Robotics Laboratory for tracking ground-based robot swarms in real-time. We highlight the considerations that were taken when build- ing and configuring the system, using a swarm of e-puck robots as a case study. Potential applications of the system are discussed, the cost of the equipment is documented, and its known limitations are addressed. This paper aims to serve as a resource for other swarm robotics researchers interested in implementing a similar low-cost tracking solution.
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