Feiyang Wen — accepted AI-conference papers

2026

Robust and Scalable Multi-Robot Localization Using Stereo UWB Arrays

Hanying Zhao, Lingwei Xu, Yi Li, Feiyang Wen, Haoran Gao, Changwu Liu +3

ICRA 2026poster

In environments where robots operate with limited global navigation satellite system accessibility, ultra-wideband (UWB) localization technology is a popular auxiliary solution to assist visual–inertial odometry systems. However, current UWB approaches lack 3-D pairwise localization capability and s…

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2024

CATOA: Cooperative Calibration of Timestamp Measurements for Distributed Multi-Robot Localization

Feiyang Wen, Hanying Zhao, Jincheng Yu, Shulin Cui, Yuan Shen

IROS 2024poster

Ultra-wideband (UWB) is a popular technology for robotic localization in global positioning system (GPS)-challenged and vision-obstructed scenarios. In UWB localization systems, distance information is extracted from ToA and ToD timestamp measurements. However, these measurements are easily influenc…

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