A robot self-localization system using one-way ultra-wideband communication

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Author(s) Ledergerber, Anton, Hamer, Michael, D'Andrea, Raffaello
Publication Type Conference Contributions, Publication Status: Published
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Title A robot self-localization system using one-way ultra-wideband communication
Author(s) Ledergerber, Anton
Hamer, Michael
D'Andrea, Raffaello
Book Title 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN 978-1-4799-9993-4
978-1-4799-9994-1
Start Page 3131
End Page 3137
Publisher IEEE
Publication Place Piscataway, NJ
Publication Date 2015
Abstract A robot localization system is presented that enables a robot to estimate its position within some space by passively receiving ultra-wideband radio signals from fixed-position modules. Communication from the fixed-position modules is one-way, allowing the system to scale to multiple robots. Furthermore, the system's high position update rate makes it suitable to be used in a feedback control system, and enables the robot to track and perform high-speed, dynamic motions. This paper describes the algorithmic underpinnings of the system, discusses design decisions and their impact on the performance of the resulting localization, and highlights challenges faced during implementation. Performance of the localization system is experimentally verified through comparison with data from a motion-capture system. Finally, the system's application to robot self-localization is demonstrated through integration with a quadrocopter.
DOI 10.1109/IROS.2015.7353810
Event Name 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location Hamburg, Germany
Event Date September 28 - October 2, 2015
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
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Source Database ID FORM-1450887090
SCOPUS-84958170428
WOS-000371885403044
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@inproceedings{Ldrgrbr2015,
  author = "Ledergerber, Anton and Hamer, Michael and D'Andrea, Raffaello",
  title = "{A} robot self-localization system using one-way ultra-wideband communication",
  booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  year = 2015,
  pages = "3131--3137",
  address = "Piscataway, NJ",
  publisher = "IEEE",
}


E-Citations record created: Wed, 23 Dec 2015, 16:11:51 CET