相关论文: Heading Estimation Using Ultra-Wideband Received S…

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.…

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly…

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…

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…

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…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…

Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy. In this paper, ultra-wideband (UWB) ranging-based T&R is…

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 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…

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…

Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance estimation from time-of-flight measurements of wireless…

Ultra-wideband (UWB) is a promising technology for indoor position estimation for various localization applications of object swarms, such as in 3D analysis of human movement with multiple on-body sensors or a swarm of drones in an indoor…

Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has recently emerged as a promising indoor positioning solution. However, in cluttered environments, both the UWB radio positions and the obstacle-induced…

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…

In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…

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…

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…

Propagation of UWB Gaussian signal in a model of automated collaborative warehouse is analyzed using ray tracing method. The transmitting antenna is placed on the human body while the received power profiles in warehouse containing empty…

Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and…