Can someone explain how the mini robots understands its location about swarmui HOT 3 OPEN

What I get like this(just for reference,error maybe):
1)DLP projects coded picture on the surface;
for every dot in the picture there is a (x,y),represent with different gray level(?I guess so.)
for any robot in the range of picture, there is a (x,y) for it, that is the position for this robot.
2)The diode on the top of robot decodes the gray-coded light and gets the (x,y);
Now, robot knows where it is.
And robot send this (x,y) to server by radio wave, server will know too.
3)Server send order to robot by radio wave, e.g. new position to go;
Robot moves to new position;
While moving, the diode will keep decoding the gray-coded light it received,
so,the server and robot will keeping be aware of where it is.
So, server will guide the robots until they get the target.

My understands.

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@newsoftxmc Thanks.

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see here to find how : https://github.com/ShapeLab/SwarmUI/tree/master/Hardware/Projector%20Tracking%20Setup

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