A low cost omnidirectional relative localization sensor for swarm applications

Abstract

By enabling coordinated task execution and movement, robotic swarms can achieve efficient exploration of unknown environments. In this paper, we propose a relative localization sensor system using Ultra-wideband (UWB) radio technology for ranging. This system is lightweight and relatively indifferent to the types of surrounding environments. Infrastructure dependency such as the requirement of beacons at known locations is eliminated by making an array of sensors on a swarm agent. In this paper, a novel algorithm is implemented on hardware with limited resources and compared to a more traditional trilateration approach. Both utilize Particle Swarm Optimization (PSO) to be more robust against noise and to achieve similar accuracy. The experimental results show that the proposed algorithm runs up to ten times faster than the existing trilateration approach. The sensor array which forms the localization system weighs only 56g, and achieves around 0.5m RMSE with a 10Hz update rate. Experiments show that the accuracy can be further improved if the rotational bias observed in the UWB devices are compensated for.

Occupancy Grid Mapping via Resource-Constrained Robotic Swarms: A Collaborative Exploration Strategy

“…Namely, each data packet includes a tuple of measurements from each type of sensor mentioned above as well as the identifier of the mapper robot itself. Landmark robots receive these data packets and forward the information to a central controller along with their own inter-robot measurements, at which point the interrobot distance and bearing measurements may be fused to obtain an estimate of the robots' locations in the environment using cooperative swarm localization techniques [49][50][51][52][53][54][55][56][57][58][59][60]. Let us denote the data packet sent by mapper Robot R i at time t as D t R i = S t R i , z t R i , i .…”

SwarmUS: An open hardware and software on-board platform for swarm robotics development

“…These measurements are obtained through the Ultra-Wideband (UWB) technology of the Beeboards. UWB offers more range and has more environmental flexibility (ex: not dependent on ambient lighting) compared to other local measurement systems used in swarm robotics [12]. Additionally, the system is independent from a centralized system like GPS or overhead cameras for smaller robots to work, giving more robustness to the swarm.…”

Usage of Evolutionary Algorithms in Swarm Robotics and Design Problems

“…Especially in unknown environments, sensors are required for the ability of robots to perform safe and efficient movements [3]. Sometimes sensors prevent collisions with other robots, sometimes they help in exploring the environment, and sometimes they perform tasks such as providing information about the locations of the robots [4]. For example, Stirling et al, 2 of 24 in their study, did not find it appropriate to detect location information with the Global Information System due to the high error rates in mobile systems with many robots [5].…”