Related papers: Multi-Robot Relative Pose Estimation and IMU Prein…
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…
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
In recent years, there has been a growing interest in multiple access communication systems that spread their transmitted energy over very large bandwidths. These systems, which are referred to as ultra wide-band (UWB) systems, have various…
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…
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…
Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suffer from non-line-of-sight degradation and outliers in…
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state…
High time resolution of ultra wideband (UWB) signals facilitates very precise positioning capabilities based on time-of-arrival (TOA) measurements. Although the theoretical lower bound for TOA estimation can be achieved by the maximum…
When using ultra-wideband (UWB) signaling on massive multiple-input multiple-output (mMIMO) systems, the electromagnetic wave at each array element incurs an extra propagation delay comparable to (or larger than) the symbol duration,…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
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…
Mobile communication networks were designed to mainly support ubiquitous wireless communications, yet they are also expected to achieve radio sensing capabilities in the near future. However, most prior studies on radio sensing usually rely…
Respiration waveforms are increasingly recognized as important biomarkers, offering insights beyond simple respiration rates, such as detecting breathing irregularities for disease diagnosis or monitoring breath patterns to guide…
Precise indoor positioning systems (IPSs) are key to perform a set of tasks more efficiently during aircraft production, operation and maintenance. For instance, IPSs can overcome the tedious task of configuring (wireless) sensor nodes in…
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,…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
Nowadays, accurate localization plays an essential role in many fields, like target tracking and path planning. The challenges of indoor localization include inadequate localization accuracy, unreasonable anchor deployment in complex…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…