Infrastructure-free Multi-robot Localization with Ultrawideband Sensors
Type
Conference PaperKAUST Department
Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) DivisionMechanical Engineering Program
Electrical Engineering Program
Date
2019-11-25Permanent link to this record
http://hdl.handle.net/10754/660341
Metadata
Show full item recordAbstract
Swarm applications use motion capture system or GPS sensors as localization systems. However, motion capture systems provide local solutions, and GPS sensors are not reliable in occluded environments. For reliable and versatile operation in a swarm, robots must sense each other and interact locally. Motivated by this requirement, we propose an onboard localization framework for multi-robot systems. Our framework consists of an anchor robot with three ultrawideband (UWB) sensors and a tag robot with a single UWB sensor. The anchor robot utilizes the three UWB sensors as a localization infrastructure and estimates the tag robot's location by using its on-board sensing and computational capabilities solely, without explicit inter-robot communication. We utilize a dual Monte-Carlo localization approach to capture the agile maneuvers of the tag robot with acceptable precision. We validate the effectiveness of our algorithm with simulations as well as indoor and outdoor experiments on a two-drone setup. The proposed framework with the dual MCL algorithm yields accurate estimates for various speed profiles of the tag robot, outperforms the standard particle filter and extended Kalman filter, and suffice for a relative position maintenance application.Citation
Guler, S., Abdelkader, M., & Shamma, J. S. (2019). Infrastructure-free Multi-robot Localization with Ultrawideband Sensors. 2019 American Control Conference (ACC). doi:10.23919/acc.2019.8814678Publisher
IEEEConference/Event name
2019 American Control Conference (ACC)Additional Links
https://ieeexplore.ieee.org/document/8814678/ae974a485f413a2113503eed53cd6c53
10.23919/acc.2019.8814678