UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems

Shule, Wang; Almansa, Carmen Martínez; Queralta, Jorge Peña; Zou, Zhuo; Westerlund, Tomi

doi:10.1016/j.procs.2020.07.051

Cited by 94 publications

(50 citation statements)

References 30 publications

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“…In GPS-denied indoor environments, other sensing modalities are deployed for estimating the drone position within a swarm. These include LiDaR sensing ( Kumar et al, 2017 ; Tsiourva and Papachristos, 2020 ; Yang et al, 2021 ), RSSI measurements ( Yokoyama et al, 2014 ; Xu et al, 2017 ; Shin et al, 2020 ), RF-based sensing ( Zhang et al, 2019 ; Shule et al, 2020 ; Cossette et al, 2021 ) and visual methods ( Lu et al, 2018 ).…”

Section: Introductionmentioning

confidence: 99%

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

et al. 2022

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UAVs operating in a leader-follower formation demand the knowledge of the relative pose between the collaborating members. This necessitates the RF-communication of this information which increases the communication latency and can easily result in lost data packets. In this work, rather than relying on this autopilot data exchange, a visual scheme using passive markers is presented. Each formation-member carries passive markers in a RhOct configuration. These markers are visually detected and the relative pose of the members is on-board determined, thus eliminating the need for RF-communication. A reference path is then evaluated for each follower that tracks the leader and maintains a constant distance between the formation-members. Experimental studies show a mean position detection error (5 × 5 × 10cm) or less than 0.0031% of the available workspace [0.5 up to 5m, 50.43° × 38.75° Field of View (FoV)]. The efficiency of the suggested scheme against varying delays are examined in these studies, where it is shown that a delay up to 1.25s can be tolerated for the follower to track the leader as long as the latter one remains within its FoV.

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Section: Introductionmentioning

confidence: 99%

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

et al. 2022

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“…Others in [17][18][19] mainly focused on the overview of the existing UAV localisation and navigation technologies in GPS-denied environment, the detailed review for the RF based technologies was not presented. Most recently, Shule et al [20] reviewed the localisation technology for multi-UAVs and multi-robot leveraging Ultra-wideband (UWB) based system is the most relevant paper in this area. However, the comparison and discussion for other radio communication technologies and localisation mechanisms on UAV positioning were not considered.…”

Section: Introductionmentioning

confidence: 99%

A Survey on Radio Frequency based Precise Localisation Technology for UAV in GPS-denied Environment

Yang

2021

J Intell Robot Syst

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Owing to the specific characteristics of Unmanned Aerial Vehicles (UAVs), the demands and applications increase dramatically for them being deployed in confined or closed space for surveying, inspection or detection to substitute human. However, Global Positioning System (GPS) may lose effectiveness or become unavailable due to the potential signal block or interference in that operational environment. Under such circumstances, an imperative requirement on new positioning technology for UAV has emerged. With the rapid development of Radio Frequency (RF) based localisation technologies, leveraging small wireless sensor nodes for low-cost, low latency, low energy consumption and accurate localisation on UAV has received significant attention. However, no up-to-date review has been conducted in this area so far. Therefore, this paper aims to give a comprehensive survey on the RF based localisation systems with different radio communication technologies and localisation mechanisms on UAV positioning. Toward this end, an exhaustive evaluation framework is first established to evaluate the performance of each system on UAV positioning from different perspectives. Particularly, the Ultra-wideband (UWB) based system with time-based mechanisms is highlighted for UAV positioning under the consideration of the proposed evaluation framework. Finally, an intensive analysis is conducted about the current challenges and the potential research issues in this area in order to identify the promising directions for future research.

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“…In the case that the UAVs’ location is not known a priori, the techniques of positioning already exist in both simulation and actual flight [ 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 ]. In [ 19 ], the authors proposed a method of passive detection of a moving aerial target by using heterogeneous satellites.…”

Section: Introductionmentioning

confidence: 99%

Multi-UAV Area Coverage Based on Relative Localization: Algorithms and Optimal UAV Placement

Zhang

Cui

et al. 2021

Sensors

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This paper is concerned with relative localization-based optimal area coverage placement using multiple unmanned aerial vehicles (UAVs). It is assumed that only one of the UAVs has its global position information before performing the area coverage task and that ranging measurements can be obtained among the UAVs by using ultra-wide band (UWB) sensors. In this case, multi-UAV relative localization and cooperative coverage control have to be run simultaneously, which is a quite challenging task. In this paper, we propose a single-landmark-based relative localization algorithm, combined with a distributed coverage control law. At the same time, the optimal multi-UAV placement problem was formulated as a quadratic programming problem by compromising between optimal relative localization and optimal coverage control and was solved by using Sequential Quadratic Programming (SQP) algorithms. Simulation results show that our proposed method can guarantee that a team of UAVs can efficiently localize themselves in a cooperative manner and, at the same time, complete the area coverage task.

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UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems

Cited by 94 publications

References 30 publications

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

Visual Collaboration Leader-Follower UAV-Formation for Indoor Exploration

A Survey on Radio Frequency based Precise Localisation Technology for UAV in GPS-denied Environment

Multi-UAV Area Coverage Based on Relative Localization: Algorithms and Optimal UAV Placement

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