Mathilde Theunissen — accepted AI-conference papers

2025

Impact of Heterogeneous UWB Sensor Noise on the Optimality and Sensitivity of Mobile Positioning Systems

Mathilde Theunissen, Isabelle Fantoni, Ezio Malis

IROS 2025

In this paper, we propose a theoretical framework for designing a multi-robot formation equipped with Ultra-wideband (UWB) sensors to localize a target robot. In the presence of noisy range measurements, the accuracy of the target robot’s pose estimation is highly dependent on the chosen formation g

Cited by 0 Source ↗Scholar ↗

2024

Robustness Study of Optimal Geometries for Cooperative Multi-Robot Localization

Mathilde Theunissen, Isabelle Fantoni, Ezio Malis, Philippe Martinet

IROS 2024poster

This work focuses on localizing a single target robot with multi-robot formations in 2D space. The cooperative robots employ inter-robot range measurements to assess the target position. In the presence of noisy measurements, the choice of formation geometries significantly impacts the accuracy of t…

Cited by 2 Source ↗Scholar ↗