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Infra-Swarm: Robust Vision-Based Multi-Robot Swarming via Near-Infrared Spectral Vision
arXiv:2607.12489v1 Announce Type: new Abstract: Distributed swarms typically rely on either active wireless communication or passive vision, and they are frequently hindered by bandwidth constraints o
arXiv:2607.12489v1 Announce Type: new Abstract: Distributed swarms typically rely on either active wireless communication or passive vision, and they are frequently hindered by bandwidth constraints or environmental sensitivity. This paper proposes Infra-Swarm, a robust vision-based swarm. Each robot is equipped with a near-infrared light source and four ordinary gray-scale cameras. The Infra-Swarm system directly measures the centimeter-level 3D position of neighbors based on the position (bearing) and intensity (strength) of optical flares in the captured images. By utilizing 940 nm narrow-band filters to physically reject 99.2% of ambient light interference, the perception front-end achieves hardware-level robustness against illumination variations. Furthermore, its minimal computational overhead provides a resilient foundation for the massive scalability of robotic collectives on resource-constrained hardware.
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Source: arXiv cs.RO | 2026-07-15