群ロボット実験のためのLEDの点滅を利用した近傍ロボット認識手法

抄録

We propose a robot identification method for multi-robot systems and report experimental results using the method in this manuscript. Our experimental robot is equipped with full-color LEDs and an omnidirectional camera to detect and identify neighboring robots. Although the color of the LED is used to identify the robots, there is a limit to the number of robot IDs that can be assigned because color recognition depends on ambient light. We propose an approach to alternately flash the LEDs in two colors and identify the robots by recognizing the color combination to increase the number of robot IDs that can be assigned. An ID recognition experiment and a position estimation experiment are conducted to verify the proposed method.