Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers

This research introduces a novel approach to onboard relative localization for heterogeneous multi-UAV teams that exploits reflections of active markers in specular environments such as calm water and flat indoor floors. The method, which uses only a camera, active markers, and a single-beam rangefinder without requiring prior knowledge of robot size or surface properties, propagates uncertainty from surface irregularities including dynamic water surfaces. Analytical and experimental characterization identifies how surface tilt biases estimates and defines the slope range for valid level-surface assumptions. Indoor and outdoor experiments validate localization accuracy under varying lighting conditions, demonstrating greater effective range than state-of-the-art vision-based active-marker methods with higher accuracy beyond 30 meters.