Relative position estimation in multi-agent systems using attitude-coupled range measurements

M Shalaby, CC Cossette, JR Forbes… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
The ability to accurately estimate the position of robotic agents relative to one another, in
possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent …

NLOS identification using parallel deep learning model and time-frequency information in UWB-based positioning system

J Wei, H Wang, S Su, Y Tang, X Guo, X Sun - Measurement, 2022 - Elsevier
Ultra wide band (UWB) radio positioning technology is widely used in indoor high-precision
positioning scenes, while obstacles in the wireless signal propagation path will cause the …

UWB-VIO fusion for accurate and robust relative localization of round robotic teams

S Zheng, Z Li, Y Liu, H Zhang, P Zheng… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
The relative pose estimation is one of the most fundamental components for multi-robot
systems, while it still remains an open and challenging research topic in infrastructure-free …

Relative transformation estimation based on fusion of odometry and UWB ranging data

TH Nguyen, L Xie - IEEE Transactions on Robotics, 2023 - ieeexplore.ieee.org
In this article, we study the problem of estimating the four-degree-of-freedom (3-D position
and heading) robot-to-robot relative frame transformation using onboard odometry and …

Multi-agent relative pose estimation with UWB and constrained communications

A Fishberg, JP How - … on Intelligent Robots and Systems (IROS …, 2022 - ieeexplore.ieee.org
Inter-agent relative localization is critical for any multi-robot system operating in the absence
of external positioning infrastructure or prior environmental knowledge. We propose a novel …

Agile formation control of drone flocking enhanced with active vision-based relative localization

P Zhang, G Chen, Y Li, W Dong - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
The vision-based relative localization can provide effective feedback for the cooperation of
aerial swarm and has been widely investigated in previous works. However, the limited field …

Optimal multi-robot formations for relative pose estimation using range measurements

CC Cossette, MA Shalaby, D Saussié… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
In multi-robot missions, relative position and attitude information between robots is valuable
for a variety of tasks such as mapping, planning, and formation control. In this paper, the …

Relative localization estimation for multiple robots via the rotating ultra-wideband tag

J Liu, G Hu - IEEE Robotics and Automation Letters, 2023 - ieeexplore.ieee.org
Most distributed algorithms for robot coordination require relative location information, but
how to obtain relative locations in a distributed manner is still a primary problem to address …

Multi-robot relative positioning and orientation system based on UWB range and graph optimization

S Zheng, Z Li, Y Yin, Y Liu, H Zhang, P Zheng, X Zou - Measurement, 2022 - Elsevier
The relative position and orientation estimation is one of the most fundamental components
for multi-robot systems, while it still remains an open and challenging research topic in …

Multi-robot relative pose estimation and IMU preintegration using passive UWB transceivers

MA Shalaby, CC Cossette, J Le Ny… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot
ranging and communication. A major constraint associated with UWB is that only one pair of …