Paper currently under submission. Full details withheld pending publication.

Abstract

In multi-robot systems, traditional RF communication struggles with contention and jamming. Event cameras support microsecond temporal resolution and high dynamic range, making them extremely sensitive to scene changes under fast relative motion with an optical transmitter. Leveraging these strengths, we develop a complete optical communication system capable of tracking moving transmitters and decoding messages in real time via a Geometry-Aware Unscented Kalman Filter (GA-UKF), achieving 7× faster processing compared to the prior state-of-the-art while maintaining equivalent tracking accuracy at transmitting frequencies ≥ 1 kHz.

My Contributions

• Hardware setup and integration of Prophesee EVK4 event cameras with ROS2
• Simulation frameworks, performance visualizations and plots to validate system behavior
• Tracking pipeline bug fixes and real-world testing of the transmitter-receiver system