robotics
The Follower Drone Kept Formation With Its Camera
A front-facing RGB-D camera supplies relative pose when GPS or external positioning becomes unreliable.
Summary
A front-facing RGB-D camera supplies relative pose when GPS or external positioning becomes unreliable.
A lightweight detector finds the leader drone, depth supplies range, and a pinhole camera model turns the observation into a relative position for formation control. The ROS implementation was tested in physics-based simulation with sensor noise, communication dropouts and simulated positioning failures. The reported stable formations are simulation evidence and not a field-safety certification.
Why it matters
A front-facing RGB-D camera supplies relative pose when GPS or external positioning becomes unreliable.
Limits and context
- The reported stable formations are simulation evidence and not a field-safety certification.
Key claims
A front-facing RGB-D camera supplies relative pose when GPS or external positioning becomes unreliable.
Qualification: The reported stable formations are simulation evidence and not a field-safety certification.
Evidence: source-2026-09-02-006
Sources
- arXiv preprint 2609.01420arXiv · primary research
Corrections
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