13 accepted papers
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a "high-coverage" infrastructure-inspection formation, while maintaining high relative pose estimation accuracy. The overall cost function balances the need…
For many automated perception and decision tasks, state-of-the-art performance may be obtained by algorithms that are too complex for their behavior to be completely understandable or predictable by human users, e.g., because they employ large machine learning models. To integrate these algorithms i…
International audience
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a systematic error or bias that must be corrected for high-accuracy lo…
Accurate and real-time position estimates are cru-cial for mobile robots. This work focuses on ranging-based positioning systems, which rely on distance measurements between known points, called anchors, and a tag to localize. The topology of the network formed by the anchors strongly influences the…
Position estimation in Multi-Robot Systems (MRS) relies on relative angle or distance measurements between the robots, which generally deteriorate as distances increase. Moreover, the localization accuracy is strongly influenced both by the quality of the raw measurements but also by the overall geo…
It is often convenient to separate a state estimation task into smaller “local” tasks, where each local estimator estimates a subset of the overall system state. However, neglecting cross-covariance terms between state estimates can result in overconfident estimates, which can ultimately degrade the
Ranging systems can provide inexpensive, accurate, energy- and computationally-efficient navigation solutions for mobile robots. This work focuses on location and pose estimation in ranging networks composed of anchors with known positions as well as mobile robots modeled as rigid bodies, each carry…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for determining the three-dimensional relative position between
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 range measurements are available at a low cost, due to technologies such as ultra-wideband radio. However, the task o
The ability to accurately measure signal time-of-flight between ultra-wideband (UWB) wireless communication transceivers, even in multipath environments, makes this technology ideally suited to develop ranging-based positioning systems, especially for indoor applications where GPS signals are not av…
Road traffic estimation systems can rely nowadays on an increasing number and variety of sensors and data sources to provide better coverage and accuracy, from standard static detectors to, more recently, location traces obtained possibly from individual drivers' smartphones. Motivated by privacy co…
This paper addresses the problem of controlling mobile sensing systems to improve the accuracy and efficiency of gathering information autonomously. It applies to scenarios such as environmental monitoring, search and rescue, surveillance and reconnaissance, and simultaneous localization and mapping…