Related papers: Towards Large-Scale Relative Localization in Multi…
Relative pose estimation is the foundational requirement for multi-robot system, while it is a challenging research topic in infrastructure-free scenes. In this study, we analyze the relative 6-DOF pose estimation error of multi-robot…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
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…
A bidirectional Ultra-Wideband (UWB) localization scheme is one of the three widely adopted design integration processes commonly used in time-based UWB positioning systems. The key property of bidirectional UWB localization is its ability…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environment. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny…
With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In this paper, we propose a learning-based framework named ULOC…
Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise…
UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…
Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…
We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…