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Published on Sep 16, 2011
A novel methodology is proposed to achieve autonomous flight using a new 3-D relative positioning sensor designed by James Roberts at the Laboratory of Intelligent Systems (LIS), EPFL. The static beacon robots act as references allowing the flying explorers to estimate their position and motion. The sensor operates by emitting a short pulse (1.5ms) of infrared (IR) in an approximate sphere using powerful LEDs. Nearby robots receive the IR transmission through an array of photodiodes and triangulate the emitting robot using received signal strength, providing range, bearing and elevation estimates.