Towards a multi-robot coordination and cooperative perception for gait analysis
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13761Keywords:
Mobile robots, Decentralized control, Perception and sensing, Autonomous robotic system, Multi-agent systems, Networked robotic systemsAbstract
This work presents RoboMesh, a decentralized perception architecture for gait analysis based on RGB-D sensors. The system allows each robot to independently estimate the patient’s position, transforming the data into tracking variables. This technical framework lays the foundation for mitigating occlusions through the future integration of multi-view data. The implementation utilizes ROS2, Fast DDS, and PTP synchronization on Rover Mini platforms, constituting the pillar for future shared mapping and collaborative localization capabilities in clinical environments.
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Copyright (c) 2026 Diego Alejandro Martinez Espinosa, Alberto Brunete, David Álvarez, Miguel Hernando
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
