Paper Info
Title
Self-Calibrating Ultra-Wideband Network Supporting Multi-Robot Localization.
Abstract
In this paper, we concern ourselves with the development of a localization system that permits multiple robots to localize themselves simultaneously within a given area, which has been outfitted with a network of stationary radio modules. We derive a clock synchronization scheme for the radio modules, show how each module is able to compute its position within the network, and finally demonstrate how multiple robots are able to operate simultaneously within the space by using time-difference-of-arrival measurements to localize themselves. Since robots are passive receivers in this system and are able to compute their position based only on received and local information, multiple robots can operate simultaneously and without the need for central coordination or centralized localization infrastructure. All results presented in this paper are supported by experimental results, and the functionality of the system is demonstrated by multiple micro-quadrocopters localizing and flying simultaneously within a space.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2829020
IEEE ACCESS
Keywords
Field
DocType
Clock synchronization,robot localization,robot sensing systems,state estimation,ultra wideband technology
Synchronization,Computer science,Robot kinematics,Real-time computing,Ultra-wideband,Clock synchronization,Schedule,Robot,Time division multiple access,Calibration,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
2
PageRank 
References 
Authors
0.39
0
2
Name
Order
Citations
PageRank
Michael Hamer131.44
Raffaello D'andrea21592162.96