Accommodation of NLOS for Ultra-Wideband TDOA Localization in Single- and Multi-Robot Systems
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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 safely. Motion ca ...
This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...
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. This paper introdu ...
For mobile robots to localize robustly, actively considering the perception requirement at the planning stage is essential. In this paper, we propose a novel representation for active visual localization. By formulating the Fisher information and sensor vi ...
Autonomous mobile robots equipped with arms have the potential to be used for automated construction of structures in various sizes and shapes, such as houses or other infrastructures. Existing construction processes, like many other additive manufacturing ...
Relative positioning systems play a vital role in current multi-robot systems. We present a self-contained detection and tracking approach, where a robot estimates a distance (range) and an angle (bearing) to another robot using measurements extracted from ...
Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically d ...
In recent years, the emergence of artificial intelligence increases the demand of automatic and robust localization outdoors and indoors. While GPS provides enough accuracy in most outdoor cases, there is still a lack of robust and efficient indoor localiz ...
Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...
Continual developments in robotic technology have enabled the use of robots in everyday applications in domestic, office and public spaces. Although single robot problems have been the main focus of social robotics research, applications of robots in socia ...