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Overview

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

workspace_setup

Launch

After workspace setup is complete:

roslaunch optical_swarm sandwich.launch

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

Done

• incorporate image_proc node to convert \image_raw topics to \image_rect
• incorporate apriltag_ros wrapper to recognize apriltags in \image_rect and output pose information

Image Processing and AprilTag Recognition

• Consolidate image_proc and AprilTag detection nodes into sandwich.launch file
• AprilCube target tracking using test.m / aprilTag_thrustcmd.m

Next Steps

• Fix and utilize usv_diff_drive node to allow for closed-loop control (cmd_vel publication)