2023
A Robust Kalman Filter Based Approach for Indoor Robot Positionning with Multi-Path Contaminated UWB Data
ICASSP 2023accepted
International audience
6 accepted papers
International audience
Ultra-Wide Band (UWB) communication systems can be used to design low cost, power efficient and precise navigation systems for mobile robots, by measuring the Time of Flight (ToF) of messages traveling between on-board UWB transceivers to infer their locations. Theoretically, decimeter level positio
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…
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…
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…