This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a unified fusion framework, enabling robust and accurate relative positioning for collaborative robotic tasks. Experimental validation demonstrates the effectiveness of the system in realtime operation, with a rule based fusion strategy ensuring reliability across dynamic scenarios. The results highlight the potential for scalable deployment in modular robotic systems.
@article{arxiv.2512.21226,
title = {Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot},
author = {Shuhan Zhang},
journal= {arXiv preprint arXiv:2512.21226},
year = {2026}
}
Comments
The paper contains factual error and logic flaws, which needs to be repaired before submitting