相关论文: An IMM-based Decentralized Cooperative Localizatio…
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…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
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…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
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 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…
Ultra-wideband (UWB) is the state-of-the-art and most popular technology for wireless localization. Nevertheless, precise ranging and localization in non-line-of-sight (NLoS) conditions is still an open research topic. Indeed, multipath…
Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
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…
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…
Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…
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…
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…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Accurate and robust positioning in multipath environments can enable many applications, such as search-and-rescue and asset tracking. For this problem, ultra-wideband (UWB) technology can provide the most accurate range estimates, which are…