Related papers: Multi-Agent Relative Pose Estimation with UWB and …
We present a novel device-free stationary person detection and ranging method, that is applicable to ultra-wide bandwidth (UWB) networks. The method utilizes a fixed UWB infrastructure and does not require a training database of template…
In this paper, we address the distributed pose estimation problem for multi-agent systems, where the agents have unknown static positions and time-varying orientations. The interaction graph is assumed to be directed and acyclic with two…
Wireless localization is a key requirement for many applications. It concerns position estimation of mobile nodes (agents) relative to fixed nodes (anchors) from wireless channel measurements. Cooperative localization is an advanced concept…
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance measurements is studied. Firstly, we present a theoretical…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
With the rising demand for indoor localization, high precision technique-based fingerprints became increasingly important nowadays. The newest advanced localization system makes effort to improve localization accuracy in the time or…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Systems for relative localization in multi-robot systems based on ultra-wideband (UWB) ranging have recently emerged as robust solutions for GNSS-denied environments. Scalability remains one of the key challenges, particularly in ad-hoc…
In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D…
While camera-based capture systems remain the gold standard for recording human motion, learning-based tracking systems based on sparse wearable sensors are gaining popularity. Most commonly, they use inertial sensors, whose propensity for…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…
A swarm of robots has advantages over a single robot, since it can explore larger areas much faster and is more robust to single-point failures. Accurate relative positioning is necessary to successfully carry out a collaborative mission…
Our paper presents a robust framework for UWB-based static gesture recognition, leveraging proprietary UWB radar sensor technology. Extensive data collection efforts were undertaken to compile datasets containing five commonly used…
In this paper a concept of hybrid Bluetooth Low Energy (BLE) Ultra-wideband (UWB) positioning system is presented. The system is intended to be energy efficient. Low energy BLE unit is used as a primary source of measurement data and for…
Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization…
For many years, there has been an impressive progress on visual odometry applied to mobile robots and drones. However, the visual perception is still in the spotlight as a challenging field because the vision sensor has some problems in…
Learned communication makes multi-agent systems more effective by aggregating distributed information. However, it also exposes individual agents to the threat of erroneous messages they might receive. In this paper, we study the setting…
Ultra-wideband (UWB) through-wall radar has a wide range of applications in non-contact human information detection and monitoring. With the integration of machine learning technology, its potential prospects include the physiological…
In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…