Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration

  • Amanda ProrokEmail author
  • Alcherio Martinoli
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)


Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Despite its desirable traits, such as precision and high material penetrability, the resolution of non-line-of-sight (NLOS) signals remains a very hard problem and has a significant impact on the localization accuracy. In this work, we address the peculiarities of UWB error behavior by building models that capture the spatiality as well as the multimodal nature of the error statistics. Our framework utilizes tessellated maps that associate multimodal probabilistic error models to localities in space. In addition to our UWB localization strategy (which provides absolute position estimates), we investigate the effects of collaboration in the form of relative positioning. We test our approach experimentally on a group of ten mobile robots equipped with UWB emitters and extension modules providing inter-robot relative range and bearing measurements.


Error Model Mobile Robot Spatial Error Model Monte Carlo Localization Indoor Navigation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  1. 1.Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental EngineeringEcole Polytéchnique Fédérale de Lausanne (EPFL)LausanneSwitzerland

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