Relative Localization System Design for SnailBot: A Modular Self-reconfigurable Robot

Abstract

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.

The paper contains factual error and logic flaws, which needs to be repaired before submitting