Related papers: Position estimation based on UWB swarm optimizatio…
We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…
Ultra-wideband (UWB)-based techniques, while becoming mainstream approaches for high-accurate positioning, tend to be challenged by ranging bias in harsh environments. The emerging learning-based methods for error mitigation have shown…
We consider the problem of localization and distance estimation between a pair of wireless nodes in a multipath propagation environment, but not the usual way of processing a channel measurement between them. We propose a novel paradigm…
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,…
More and more consumer devices implement the IEEE Ultra-Wide Band (UWB) standard to perform distance measurements for sensitive tasks such as keyless entry and startup of modern cars, to find lost items using coin-sized trackers, and for…
The integration of Reconfigurable Intelligent Surfaces (RIS) in 6G wireless networks offers unprecedented control over communication environments. However, identifying optimal configurations within practical constraints remains 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…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
Mobile autonomous systems, robots, and cyber-physical systems rely on accurate positioning information. To conduct distance-measurement, two devices exchange signals and, knowing these signals propagate at the speed of light, the time of…
The design and development of swarms of micro-aerial vehicles (MAVs) has recently gained significant traction. Collaborative aerial swarms have potential applications in areas as diverse as surveillance and monitoring, inventory management,…
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
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…
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…
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…
Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity services, such as UWB tagless gate (UTG), thanks to centimeter-level localization accuracy based on two different ranging methods such as downlink…
Ultrawideband (UWB) technology has attracted a lot of attention for indoor and outdoor positioning systems due to its high accuracy and robustness in non-line-of-sight (NLOS) environments. However, UWB signals are affected by multipath…
With the rapid development of the Internet of Things (IoT), Indoor Positioning System (IPS) has attracted significant interest in academic research. Ultra-Wideband (UWB) is an emerging technology that can be employed for IPS as it offers…
Ultra-wideband (UWB) is a state-of-the-art technology designed for applications requiring centimeter-level localization. Its widespread adoption by smartphone manufacturer naturally raises security and privacy concerns. Successfully…
In multi-robot systems, relative localization between platforms plays a crucial role in many tasks, such as leader following, target tracking, or cooperative maneuvering. State of the Art (SotA) approaches either rely on…