Add motion to ranging
Rotation changes the measurement geometry without adding a fixed anchor network.
IEEE RA-L · 2023 / UWB LOCALIZATION
Rotating-UWB Relative Localization.
Turn a range measurement into relative position.
Relative localization between robots using a rotating UWB tag to enrich range-only measurements.
- UWB ranging
- Relative localization
- Multi-robot systems
01 / OVERVIEW
The idea.
Relative Localization Estimation for Multiple Robots via the Rotating Ultra-Wideband Tag
IEEE Robotics and Automation Letters · 2023
One distance measurement does not uniquely determine a robot’s relative position. A rotating UWB tag introduces a known motion into the ranging process, providing additional geometric information for estimating the relative locations of multiple robots.
- Rotating-tag sensing geometry
- Relative-position estimation
- Presented at ICRA 2024
RESEARCH VISUALS · 34 sec
Outdoor and indoor localization.
Selected excerpts from the original supplementary video: outdoor (27–40.8 s) and indoor (46–66 s) experiments. The source’s 4× / 2× speed labels and plots are retained. Open the original video for the complete demonstration.
02 / IMPLEMENTATION
How it works.
- Rotate
Introduce a known motion to the UWB tag.
- Measure
Collect ranges between robots.
- Estimate
Recover relative positions from the measurements.
- Evaluate
Compare estimates in robot experiments.
Estimate relative positions
The estimator uses the rotating-tag measurements for multi-robot localization.
Demonstrate on robots
The original video presents the system and experimental results.
03 / RESOURCES
Read further.
The paper, original demonstrations, and available project materials.