{"id":"https://openalex.org/W7168412600","doi":"https://doi.org/10.48550/arxiv.2607.12489","title":"Infra-Swarm: Robust Vision-Based Multi-Robot Swarming via Near-Infrared Spectral Vision","display_name":"Infra-Swarm: Robust Vision-Based Multi-Robot Swarming via Near-Infrared Spectral Vision","publication_year":2026,"publication_date":"2026-07-14","ids":{"openalex":"https://openalex.org/W7168412600","doi":"https://doi.org/10.48550/arxiv.2607.12489"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.12489","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.12489","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.12489","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140829100","display_name":"Haoyu Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Haoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140823817","display_name":"Qijin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Qijin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140773332","display_name":"Wanyu Xiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiang, Wanyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140877169","display_name":"Xiuxiu Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Xiuxiu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140840624","display_name":"Zian Ning","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ning, Zian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140920420","display_name":"Shiyu Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Shiyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.25270000100135803,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.25270000100135803,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10851","display_name":"Optical Wireless Communication Technologies","score":0.08510000258684158,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.05820000171661377,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.715399980545044},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5557000041007996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4742000102996826},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.4586000144481659},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.3937000036239624},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3684000074863434},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.34929999709129333},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.33309999108314514},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.32679998874664307}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.715399980545044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6378999948501587},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5557000041007996},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5335999727249146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5157999992370605},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4742000102996826},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.4586000144481659},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.3937000036239624},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3684000074863434},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.34929999709129333},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3409999907016754},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31929999589920044},{"id":"https://openalex.org/C160487672","wikidata":"https://www.wikidata.org/wiki/Q1426313","display_name":"Visible light communication","level":3,"score":0.3165999948978424},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C45613198","wikidata":"https://www.wikidata.org/wiki/Q1134091","display_name":"Optical filter","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2809999883174896},{"id":"https://openalex.org/C3020368824","wikidata":"https://www.wikidata.org/wiki/Q6546192","display_name":"Light intensity","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C2781305180","wikidata":"https://www.wikidata.org/wiki/Q7098907","display_name":"Optical wireless","level":3,"score":0.2777000069618225},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.27059999108314514},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C129404179","wikidata":"https://www.wikidata.org/wiki/Q1469765","display_name":"Optical communication","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C107021485","wikidata":"https://www.wikidata.org/wiki/Q18385577","display_name":"Optical wireless communications","level":4,"score":0.259799987077713},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.12489","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.12489","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.12489","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.12489","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Distributed":[0],"swarms":[1],"typically":[2],"rely":[3],"on":[4,57,110],"either":[5],"active":[6],"wireless":[7],"communication":[8],"or":[9,20],"passive":[10],"vision,":[11],"and":[12,40,61],"they":[13],"are":[14],"frequently":[15],"hindered":[16],"by":[17],"bandwidth":[18],"constraints":[19],"environmental":[21],"sensitivity.":[22],"This":[23],"paper":[24],"proposes":[25],"Infra-Swarm,":[26],"a":[27,36,100],"robust":[28],"vision-based":[29],"swarm.":[30],"Each":[31],"robot":[32],"is":[33],"equipped":[34],"with":[35],"near-infrared":[37],"light":[38,83],"source":[39],"four":[41],"ordinary":[42],"gray-scale":[43],"cameras.":[44],"The":[45],"Infra-Swarm":[46],"system":[47],"directly":[48],"measures":[49],"the":[50,58,68,85,104],"centimeter-level":[51],"3D":[52],"position":[53,59],"of":[54,64,81,107],"neighbors":[55],"based":[56],"(bearing)":[60],"intensity":[62],"(strength)":[63],"optical":[65],"flares":[66],"in":[67],"captured":[69],"images.":[70],"By":[71],"utilizing":[72],"940":[73],"nm":[74],"narrow-band":[75],"filters":[76],"to":[77],"physically":[78],"reject":[79],"99.2%":[80],"ambient":[82],"interference,":[84],"perception":[86],"front-end":[87],"achieves":[88],"hardware-level":[89],"robustness":[90],"against":[91],"illumination":[92],"variations.":[93],"Furthermore,":[94],"its":[95],"minimal":[96],"computational":[97],"overhead":[98],"provides":[99],"resilient":[101],"foundation":[102],"for":[103],"massive":[105],"scalability":[106],"robotic":[108],"collectives":[109],"resource-constrained":[111],"hardware.":[112]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-16T00:00:00"}