相关论文: An IMM-based Decentralized Cooperative Localizatio…
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…
The availability of positional information is of great importance in many commercial, governmental, and military applications. Localization is commonly accomplished through the use of radio communication between mobile devices (agents) and…
Recent advancements in Internet of Things (IoTs) have brought about a surge of interest in indoor positioning for the purpose of providing reliable, accurate, and energy-efficient indoor navigation/localization systems. Ultra Wide Band…
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,…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…
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…
Ultra-wideband (UWB) technology has become very popular for indoor positioning and distance estimation (DE) systems due to its decimeter-level accuracy achieved when using time-of-flight-based techniques. Techniques for DE relying on signal…
Among the various Ultra-wideband (UWB) ranging methods, the absence of uplink communication or centralized computation makes downlink time-difference-of-arrival (DL-TDOA) localization the most suitable for large-scale industrial…
High accuracy localisation technologies exist but are prohibitively expensive to deploy for large indoor spaces such as warehouses, factories, and supermarkets to track assets and people. However, these technologies can be used to lend…
WiFi technology has been used pervasively in fine-grained indoor localization, gesture recognition, and adaptive communication. Achieving better performance in these tasks generally boils down to differentiating Line-Of-Sight (LOS) from…
This paper advances the field of pedestrian localization by introducing a unifying framework for opportunistic positioning based on nonlinear factor graph optimization. While many existing approaches assume constant availability of one or…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
As commercial interest in proximity services increased, the development of various wireless localization techniques was promoted. In line with this trend, Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity…
With the widespread adoption of smartphones, ensuring pedestrian safety on roads has become a critical concern due to smartphone distraction. This paper proposes a novel and real-time assistance system called UWB-assisted Safe Walk (UASW)…
In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified…
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 investigates a bi-static integrated sensing and communication (ISAC) system for multi-target scenarios using impulse radio ultra-wideband (IR-UWB) signals, which offer fine temporal resolution, low power consumption, and strong…