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The nested marker is effective for robots like drones, which land and take off vertically with respect to the ground. The hierarchical marker is suitable for robots that move horizontally with respect to the ground such as wheeled mobile robots. The third method is the calculation of the position of an added or moved marker based on a reference marker. This method automatically updates the positions of markers after considering the change in the driving area of the mobile robot. Finally, the proposed methods were validated through experime
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