Overhead Vision System for Testing Swarms and Groups of Wheeled Robots

Abstract

The paper describes how to use ArUco markers to determine the posion and orientaon o wheeled robots in space.t is preceded b a general descripon o the testbed and a detailed descripon o the marker detecon algorithm along with the camera calibraon using the ChaArUco markers.The camera has been described and calibrated using the pinhole camera model, taking into account distoron o the lens.The second part o the ar-cle describes the wheeled robots with their mechanical construcon.