Gian Pietro Picco

Robot Localization via Odometry-assisted Ultra-wideband Ranging with Stochastic Guarantees

We consider the problem of accurate and high-rate self-localization for a mobile robot. We adaptively combine the speed information acquired by proprioceptive sensors with intermittent positioning samples acquired via ultra-wideband (UWB) radios. These are triggered only if and when needed to reduce…