Related papers: Multi-Agent Relative Pose Estimation with UWB and …
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…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
An ultra-wide bandwidth (UWB) remote-powered positioning system for potential use in tracking floating objects inside space stations is presented. It makes use of battery-less tags that are powered-up and addressed through wireless power…
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning in environments where the Global Positioning System (GPS) service is either unavailable or has unsatisfactory performance.…
Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a…
In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…
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…
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…
Testing Ultra-Wideband (UWB) systems is challenging, as multiple devices need to coordinate over lossy links and the systems' behavior is influenced by timing, synchronization, and environmental factors. Traditional testing is often…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
Ultra-wideband (UWB) communications have gained popularity in recent years for being able to provide distance measurements and localization with high accuracy, which can enhance the capabilities of devices in the Internet of Things (IoT).…
Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…
This paper presents an infrastructure-free approach for obstacle detection and environmental mapping using ultra-wideband (UWB) radar mounted on a mobile robotic platform. Traditional sensing modalities such as visual cameras and Light…
Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…
Ultra-wideband positioning systems intended for indoor applications often work in non-line of sight conditions, which result in insufficient precision and accuracy of derived localizations. One of the possible solutions is the…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
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…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…