# A Decentralized Cooperative Navigation Approach for Visual Homing Networks

arXiv: https://arxiv.org/abs/2310.00906 · HTML: https://mlsanity.com/paper/2310.00906/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 25 references that are in the map.
- First posted on arXiv 2 Oct 2023.

## Builds on (most cited first, 3 of 3)

- [The blockchain: a new framework for robotic swarm systems](https://mlsanity.com/paper/1608.00695/) (2016)
- [Partition-Tolerant and Byzantine-Tolerant Decision-Making for Distributed Robotic Systems with IOTA and ROS 2](https://mlsanity.com/paper/2208.13467/) (2022)
- [UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems](https://mlsanity.com/paper/2208.13546/) (2022)

## Abstract (arXiv)

Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information to the current image and extracting a motion vector. A challenge that constrains the applicability of visual homing is that the home location must be within the robot's field of view to initiate the homing process. Thus, we propose a blockchain approach to visual navigation for a heterogeneous robot team over a wide area of visual navigation. Because it does not require map data structures, the approach is useful for robot platforms with a small computational footprint, and because it leverages current visual information, it supports a resilient and adaptive path selection. Further, we present a lightweight Proof-of-Work (PoW) mechanism for reaching consensus in the untrustworthy visual homing network.