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Welcome to the optical_swarm wiki!

This project serves to explore the possibility of using fiducial markers (AprilTags https://github.com/AprilRobotics/apriltag) for pose estimation for a swarm of unmanned surface vessels (USVs) operating in an environment where GPS and RF communications are denied. Using imaging and lidar, the USVs will identify swarm partners and their relative position via AprilTags attached to each vessel, and will employ artifical potential field algorithms to maintain vehicle spacing as they navigate together.

workspace_setup

Current status:

AprilTags are attached to a cube that moves between fixed waypoints (using the rabbit.py node)

roslaunch optical_swarm sandwich.launch