Related papers: Self Contained Relative Localization with a Low-Co…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
Accurate localization is crucial for effectively operating mobile robots in indoor environments. This paper presents a comprehensive approach to mobile robot localization by integrating an ultrasound-based indoor positioning system (IPS)…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
External localization is an essential part for the indoor operation of small or cost-efficient robots, as they are used, for example, in swarm robotics. We introduce a two-stage localization and instance identification framework for…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
Humanoid robots without internal sensors such as a compass tend to lose their orientation after a fall. Furthermore, re-initialisation is often ambiguous due to symmetric man-made environments. The room-awareness module proposed here is…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…