A Decentralized Cooperative Navigation Approach for Visual Homing Networks

Autor:	Rahouti, Mohamed, Lyons, Damian, Jagatheesaperumal, Senthil Kumar, Xiong, Kaiqi
Rok vydání:	2023
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition Computer Science - Graphics 93Cxx H.1.2 I.6.5 I.6.7
Druh dokumentu:	Working Paper
Popis:	Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information to the current image and extracting a motion vector. A challenge that constrains the applicability of visual homing is that the home location must be within the robot's field of view to initiate the homing process. Thus, we propose a blockchain approach to visual navigation for a heterogeneous robot team over a wide area of visual navigation. Because it does not require map data structures, the approach is useful for robot platforms with a small computational footprint, and because it leverages current visual information, it supports a resilient and adaptive path selection. Further, we present a lightweight Proof-of-Work (PoW) mechanism for reaching consensus in the untrustworthy visual homing network. Comment: 8 pages, 5 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2310.00906 Zobrazit plný text záznamu View this record from Arxiv