Related papers: Multi-Agent Relative Pose Estimation with UWB and …
Distance estimation plays an important role for path planning and collision avoidance of swarm UAVs. However, the lack of annotated data seriously hinders the related studies. In this work, we build and present a UAVDE dataset for UAV…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…
Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between robots and visual detection renders existing methods highly…
This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally…
Indoor positioning systems based on Ultra-wideband (UWB) technology are gaining recognition for their ability to provide cm-level localization accuracy. However, these systems often encounter challenges caused by dense multi-path fading,…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
With the technological growth of broadband wireless technology like CDMA and UWB, a lots of development efforts towards wireless communication system and Imaging radar system are well justified. Efforts are also being imparted towards a…
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
In conjunction with a social gathering held on a university campus, the movement of attendees were tracked within the venue for approximately two hours using a UWB indoor positioning system, in order to visualize their interpersonal…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and…
Cooperative localization in multi-agent robotic systems is challenging, especially when agents rely on limited information, such as only peer-to-peer range measurements. Two key challenges arise: utilizing this limited information to…
Ultra-wideband (UWB) technology has become very popular for indoor positioning and distance estimation (DE) systems due to its decimeter-level accuracy achieved when using time-of-flight-based techniques. Techniques for DE relying on signal…
Understanding the location of ultra-wideband (UWB) tag-attached objects and people in the real world is vital to enabling a smooth cyber-physical transition. However, most UWB localization systems today require multiple anchors in the…
Relative pose estimation is fundamental for SLAM, visual localization, and 3D reconstruction. Existing Relative Pose Regression (RPR) methods face a key trade-off: feature-matching pipelines achieve high accuracy but block gradient flow via…
Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…