Fig. 2: 2D localization of swarm robots.
From: Creating speech zones with self-distributing acoustic swarms
A One of the robots stays at the platform and moves over all the black checkpoints on the track, emitting acoustic chirps along the way. The remaining robots use these chirps to compute the 1D distances from each checkpoint. B The external robots take turns emitting chirps to measure more pairwise 1D distances to improve 2D localization accuracy. C Shows the synchronization errors between robot pairs with and without our time synchronization technique. We evaluate our localization algorithm in the scenarios shown in (D–F) with clutter on the table and walls nearby. G, H show the 1D and 2D localization errors in these scenarios while (I) shows the 2D localization errors for different sized tables. The large, medium, and small table sizes are 1.8 × 0.8 m, 1.5 × 0.6 m, and 1.2 × 0.4 m, respectively.
