A scalable, on‐board localisation and communication system for indoor multi‐robot experiments

We describe the first prototypes of an inter‐robot infrared localisation and communication system. The system detects the relative positions (both range and bearing) of autonomous mobile robots with an update rate of up to 20 Hz, a range of up to 3 m and an accuracy of 40 cm for range and 45° for bearing. In addition, each robot can send at least 1 byte of data to all the other robots within the range per update cycle. Flocking on a group of eight robots is used as a non‐trivial real‐world test of this system. We conclude the paper by discussing advantages, limitations, and future improvements of the system.