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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…
Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…
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.…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
This paper proposes an ultra-wideband (UWB) aided localization and mapping system that leverages on inertial sensor and depth camera. Inspired by the fact that visual odometry (VO) system, regardless of its accuracy in the short term, still…
To address the need for high-precision localization of climbing robots in complex high-altitude environments, this paper proposes a multi-sensor fusion system that overcomes the limitations of single-sensor approaches. Firstly, the…
While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In this paper, we propose a learning-based framework named ULOC…
In Swarm Robotic Systems (SRSs), only a few robots are equipped with Global Positioning System (GPS) devices, known as anchors. A challenge lies in inferring the positions of other unknown robots based on the positions of anchors. Existing…
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wireless localization solutions is enabling a wider range of…
Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightweight, and…
Ultra-Wideband (UWB) technology is an emerging low-cost solution for localization in a generic environment. However, UWB signal can be affected by signal reflections and non-line-of-sight (NLoS) conditions between anchors; hence, in a…
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,…
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…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…
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…
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…
Accurate localization is essential for a wide range of applications, including asset tracking, smart agriculture, and animal monitoring. While traditional localization methods, such as Global Navigation Satellite System (GNSS), Wi-Fi, and…
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…