Barometer Assisted GPS Denied Trilateration Algorithm for Traversing Vertical Three-Dimensional Spaces

Ann, Alvin Goh Cheng; Ahmed, Alvee; Soh, Gim Song; Foong, Shaohui

doi:10.33012/2019.16802

Cited by 2 publications

(1 citation statement)

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“…We explore sensor fusion from the wheel odometry, IMU, and UWB modules using an extended Kalman filter to localize the Virgo robot on a 2D plane, and acquire an improvement in the accuracy of localization (Nguyen et al, 2018). We extend the 2D trilateration of the UWB modules into 3D localization, and incorporate the reading from the barometer to further increase the accuracy of 3D localization (Goh et al, 2019). A novel horizontal projection model is proposed to reduce the computational complexity of 3D localization.…”

Section: Uwb and Barometer-assisted Localizationmentioning

confidence: 99%

Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping

Dharmawan

Soh

Foong

et al. 2019

Front Inform Technol Electron Eng

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Development of mesoscale robots is gaining interest in security and surveillance domains due to their stealth and portable nature in achieving tasks. Their design and development require a host of hardware, controls, and behavioral innovations to yield fast, energy-efficient, distributed, adaptive, robust, and scalable systems. We extensively describe one such design and development process by: (1) the genealogy of our embedded platforms;(2) the key system architecture and functional layout; (3) the developed and implemented design principles for mesoscale robotic systems; (4) the various key algorithms developed for effective collective operations of mesoscale robotic swarms, with applications to urban sensing and mapping. This study includes our perception of the embedded hardware requirements for reliable operations of mesoscale robotic swarms and our description of the key innovations made in magnetic sensing, indoor localization, central pattern generator control, and distributed autonomy. Although some elements of the design process of such a complex robotic system are inevitably ad-hoc, we focus on the system-of-systems design process and the component design integration. This system-of-systems process provides a basis for developing future systems in the field, and the designs represent the state-of-the-art development that may be benchmarked against and adapted to other applications.

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Section: Uwb and Barometer-assisted Localizationmentioning

confidence: 99%