Related papers: Towards Large-Scale Relative Localization in Multi…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…
The high time resolution of ultra-wideband (UWB) signals facilitates very precise position estimation in many scenarios, which makes a variety applications possible. This paper reviews the problem of position estimation in UWB systems,…
Relative localization in the near-field scenario is critically important for unmanned vehicle (UxV) applications. Although related works addressing 2D relative localization problem have been widely studied for unmanned ground vehicles…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising…
During this decade, Wireless Sensor Networks (WSNs) brought an increasing interest in the industrial and research world. One of their applications is the indoor localization. The ranging, i.e. the distance evaluation mechanism between…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
Rodents have long been established as the premier model for behavioral studies, traditionally raised and maintained in conventional cage environments. However, these settings often limit rodents' ability to exhibit their full range of…
Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both the UWB radio positions and the obstacle-induced…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns…
Relative localization is a crucial functional block of any robotic swarm. We address it in a fleet of nano-drones characterized by a 10 cm-scale form factor, which makes them highly versatile but also strictly limited in their onboard power…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…
A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…