Feature matching based positioning algorithm for swarm robotics

In this study, a positioning algorithm which is inspired by model matching type positioning systems is presented for swarm robotics. Unlike the conventional model matching systems, the system is designed to be operated as distributed. The algorithm consists of online and offline stages. While specific data collection and positioning are computed in the offline stage, specific data exchange is performed in the online stage. In the positioning algorithm to be used, a swarm robot system where each robot receives an image from a camera located under itself and where the robots share these images with each other and perform positioning is taken as a basis. The positions computed are the positions of the robots with respect to each other. Position estimation is based on feature detection and description from images. To determine the optimal positioning algorithm, performance comparison is performed among different combinations of feature detection and description algorithms.