{"ID":6620551,"CreatedAt":"2026-07-15T01:01:48.440468303Z","UpdatedAt":"2026-07-15T03:28:55.185153975Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.12489","arxiv_id":"2607.12489","title":"Infra-Swarm: Robust Vision-Based Multi-Robot Swarming via Near-Infrared Spectral Vision","abstract":"Distributed swarms typically rely on either active wireless communication or passive vision, and they are frequently hindered by bandwidth constraints or environmental sensitivity. This paper proposes Infra-Swarm, a robust vision-based swarm. Each robot is equipped with a near-infrared light source and four ordinary gray-scale cameras. The Infra-Swarm system directly measures the centimeter-level 3D position of neighbors based on the position (bearing) and intensity (strength) of optical flares in the captured images. By utilizing 940 nm narrow-band filters to physically reject 99.2% of ambient light interference, the perception front-end achieves hardware-level robustness against illumination variations. Furthermore, its minimal computational overhead provides a resilient foundation for the massive scalability of robotic collectives on resource-constrained hardware.","short_abstract":"Distributed swarms typically rely on either active wireless communication or passive vision, and they are frequently hindered by bandwidth constraints or environmental sensitivity. This paper proposes Infra-Swarm, a robust vision-based swarm. Each robot is equipped with a near-infrared light source and four ordinary gr...","url_abs":"https://arxiv.org/abs/2607.12489","url_pdf":"https://arxiv.org/pdf/2607.12489v1","authors":"[\"Haoyu Chen\",\"Qijin Li\",\"Wanyu Xiang\",\"Xiuxiu Lin\",\"Zian Ning\",\"Shiyu Zhao\"]","published":"2026-07-14T08:22:55Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}