If you are able to race at dusk or in the evenings with medium external lighting, tracking different colored indicator leds doesn't require extensive or expensi

If you are able to race at dusk or in the evenings with medium external lighting, tracking different colored indicator leds doesn't require extensive or expensive hardware. This will only really give you a 2d overview, but some information on altitude can be gleaned from the amplitude of the light from each drone. A quick example on how well this works, this is a few roombas bouncing around [1] This is what that path integration can look like rendered in a video [2] [1] https://transistor-man.com/PhotoSet/roomba_dance/animated/dark_room_raw.mp4 https://transistor-man.com/PhotoSet/roomba_dance/animated/da... [2] https://vimeo.com/645355520#t=30s https://vimeo.com/645355520#t=30s