Enabling Relative Localization for Nanodrone Swarm Platooning

Nanodrone swarm consisting of multiple lightweight and low-cost nanodrones can perform severe tasks in a challenging environment. Therefore, it is important to predict the relative position of the nanodrones in the swarm for safe platooning. To this end, we present Tagroup, a system that can sense the relative position of the nanodrone swarm with commodity passive RFID tags. Specifically, we attach one commercial of the shelf RFID tag to the nanodrone in the swarm. Then, we can estimate the relative position of the RFID-tagged nanodrones in the swarm by profiling the spatial-temporal phase readings from the RFID tag. To demonstrate it, we fly two nanodrones and estimate their relative positions with the spatial-temporal phase profile.