Related papers: ReLoki: Infrastructure-free Distributed Relative L…
This paper presents a novel testbed designed for 5th-Generation (5G) positioning using Universal Software Radio Peripherals (USRPs). The testbed integrates multiple units: an Operation Unit for test management, a User Unit equipped with an…
Ultra-wideband (UWB) devices are widely used in indoor localization scenarios. Single-anchor UWB localization shows advantages because of its simple system setup compared to conventional two-way ranging (TWR) and trilateration localization…
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…
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…
Currently, accurate localization system based on commodity WiFi devices is not broadly available yet. In the literature, the solutions are based on either network infrastructure like WiFi router, which have at least three antennas, or…
Accurate and low-power indoor localization is becoming more and more of a necessity to empower novel consumer and industrial applications. In this field, the most promising technology is based on UWB modulation; however, current UWB…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…
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…
In this paper, we present a directional antenna-based leader-follower robotic relay system capable of building end-to-end communication in complicated and dynamically changing environments. The proposed system consists of multiple networked…
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they carry a specific devices with them. To achieve this "device…
This paper addresses the problem of distributed estimation of an unknown dynamic parameter by a multi-agent system over a directed communication network in the presence of an adversarial attack on the agents' sensors. The mode of attack of…
WiFi fingerprint-based indoor localization has been widely studied, but most existing approaches focus on absolute positioning and rely on dense coordinate annotations, which are costly to obtain at scale. In this paper, we study a…
In the scope of this paper, the precise positioning of objects with the help of Ultra Wide Band technology is evaluated. To achieve this, a prototype module for the use with the Decawave transceiver DW1000 was implemented and added to…
Indoor localization has recently witnessed an increase in interest, due to the potential wide range of services it can provide by leveraging Internet of Things (IoT), and ubiquitous connectivity. Different techniques, wireless technologies…
Localization systems based on ultra-wide band (UWB) measurements can have unsatisfactory performance in harsh environments due to the presence of non-line-of-sight (NLOS) errors. Learning-based methods for error mitigation have shown great…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Indoor positioning using UWB technology has gained interest due to its centimeter-level accuracy potential. However, multipath effects and non-line-of-sight conditions cause ranging errors between anchors and tags. Existing approaches for…
This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…