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UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset [article]

Jorge Peña Queralta, Carmen Martínez Almansa, Fabrizio Schiano, Dario Floreano, Tomi Westerlund
2020 arXiv   pre-print
In this paper, we study and characterize an ultra-wideband (UWB) system for navigation and localization of aerial robots indoors based on Decawave's DWM1001 UWB node.  ...  In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely.  ...  Section II reviews the state-of-the-art in UWB localization for mobile robots, comparing our approach with existing datasets for UWB-based positioning in GNSS-denied environments.  ... 
arXiv:2003.04380v2 fatcat:wtibe25n2zg6hipe2jzpjkuuoi

Autocalibration of a Mobile UWB Localization System for Ad-Hoc Multi-Robot Deployments in GNSS-Denied Environments [article]

Carmen Martínez Almansa, Wang Shule, Jorge Peña Queralta, Tomi Westerlund
2020 arXiv   pre-print
UWB-based localization systems have been utilized in various types of GNSS-denied environments for ground or aerial autonomous robots.  ...  This limits the applicability of such systems for dynamic and ad-hoc deployments, such as post-disaster scenarios where the UWB anchors could be mounted on mobile robots to aid the navigation of UAVs or  ...  In summary, our main objective is the design and development of a mobile UWB-based localization system that can be utilized for localization in multirobot systems in GNSS-denied environments.  ... 
arXiv:2004.06762v1 fatcat:m6fbu3pq5bffvmz37tz6wiy5va

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision

Jorge Pena Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 IEEE Access  
LOCALIZATION AND DEPLOYMENT IN GNSS-DENIED ENVIRONMENTS Localization is one of the main challenges in the deployment of mobile robots.  ...  In this area, we see the main opportunities and open challenges to be in (i) collaborative localization in GNSS denied environments; (ii) collaborative perception of victims from different perspectives  ...  He has served in the Technical Program Committees for all major conferences in his area.  ... 
doi:10.1109/access.2020.3030190 fatcat:exigopjplzgfzlghxvr7s3l3di

Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception [article]

Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 arXiv   pre-print
In particular, multi-robot systems have the potential to significantly improve the efficiency of SAR personnel with faster search of victims, initial assessment and mapping of the environment, real-time  ...  SAR operations encompass a wide variety of environments and situations, and therefore heterogeneous and collaborative multi-robot systems can provide the most advantages.  ...  In this area, we see the main opportunities and open challenges to be in (i) collaborative localization in GNSS denied environments; (ii) collaborative perception of victims from different perspectives  ... 
arXiv:2008.12610v1 fatcat:hq5lqtnsoreapjm4dpgg4z5xki

IPIN 2018 Ninth International Conference on Indoor Positioning and Indoor Navigation

2018 2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN)  
We also propose an algorithm to cover the still unsolved issue regarding coasting and braking periods for bicycle navigation in GNSS denied scenarios.  ...  paper, a novel method of WiFi fingerprinting for localizing intelligent vehicles in GPS-denied area, such as car parks, is proposed.  ...  The state-of-the-art in device-free localization systems based on RF-measurements is fingerprinting.  ... 
doi:10.1109/ipin.2018.8533737 fatcat:rv5zjhjytjaijcqgvvvpmbfjfa

A Review of Counter-UAS Technologies for Cooperative Defensive Teams of Drones

Vittorio Ugo Castrillo, Angelo Manco, Domenico Pascarella, Gabriella Gigante
2022 Drones  
In order to provide the basis for implementing such a system, we present a review of the available technologies for sensing, mitigation and command and control systems that generally comprise a CUS, focusing  ...  For this purpose, the paper evaluates the concept of a multiplatform counter-UAS system (CUS), based mainly on a team of mini drones acting as a cooperative defensive system.  ...  They can be used for simultaneous localization and mapping (SLAM), which allows robots to orient themselves in an unknown space and GPS-denied environment.  ... 
doi:10.3390/drones6030065 fatcat:bpnk3izp5vf3zcvvoeg3kf5n34

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
and future directions in unmanned aircraft systems.  ...  In response to the Call for Papers, we received 327 contributed and invited session papers. This is the highest ever compared to all previous years.  ...  This paper explores 3D path planning for unmanned aerial vehicles (UAVs) in 3D point cloud environments.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

A V-SLAM Guided and Portable System for Photogrammetric Applications

Alessandro Torresani, Fabio Menna, Roberto Battisti, Fabio Remondino
2021 Remote Sensing  
In this work we propose an ARM-based, low-cost and lightweight stereo vision mobile mapping system based on a Visual Simultaneous Localization And Mapping (V-SLAM) algorithm.  ...  Mobile and handheld mapping systems are becoming widely used nowadays as fast and cost-effective data acquisition systems for 3D reconstruction purposes.  ...  Existing localization technologies (such as, for example, motion capture systems, Ultra-Wide Band (UWB) [25] in indoor, acoustic systems in underwater environments) are expensive and/or generally require  ... 
doi:10.3390/rs13122351 fatcat:kjejgkhs3jclhc574y32lxxc3a

Conference Guide [Front matter]

2020 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)  
In this paper, a UAV swarm testbed is presented, which consist of an ultra-wide-band (UWB) positioning system, multiple UAVs and finite state machine based on Stateflow/Simulink.  ...  TuCT4 Room 4 This paper proposes a multi-hop distributed sensor network localization method based on UWB ranging measurements.  ...  In this paper we investigate the resilient consensus problem for multi-agent systems under the specific attack scenarios where the attacker can eavesdrop on initial information of agents among the system  ... 
doi:10.1109/icarcv50220.2020.9305477 fatcat:4h7gpoj7ljgsrlkjoyw3qcfzxi

Wheel Odometry Aided Visual-Inertial Odometry in Winter Urban Environments [article]

Cheng Huang, University Of Calgary, Kyle P. G. O'Keefe
Visual-inertial odometry (VIO) is an accurate, inexpensive, and complementary approach for land vehicle navigation in GNSS signal-denied environments.  ...  Then, the KAIST Complex Urban Dataset [2] is used to test the performance of IMU+Vision+WO integration system in urban canyon environments.  ...  The advantage of using UWB for localization is the high precision of time-of-flight measurement and the multipath immunity. TOA and TDOA can be used in UWB positioning systems.  ... 
doi:10.11575/prism/38573 fatcat:xsro75cxmnb6di7yce2ysegofe

Final Program

2021 2021 IEEE 93rd Vehicular Technology Conference (VTC2021-Spring)  
For common testing in the non-stationary environment, we Beijing University of Posts and Telecommunications in 2000, and the present a generic dataset generation method to benchmark across  ...  In a number of wireless communication based systems, for instance, vehicular environment or industrial environment, dependability attributes are of uttermost importance, since a failure in system’s operation  ... 
doi:10.1109/vtc2021-spring51267.2021.9448675 fatcat:if5edc6u7zcc7jnl67jezth3je

Sliding bifurcations in resonant inverters

Enrique Ponce, Luis Benadero, Abdelali El Aroudi, Luis Martinez-Salamero
2017 2017 14th International Multi-Conference on Systems, Signals & Devices (SSD)  
We use external information provided by a 3D GNSS simulation to characterize GNSS errors in urban areas.  ...  Abstract -In order to foster the development of Global Navigation Satellite Systems (GNSS) for land navigation services, there is a pressing need for providing a trust level of the localization solution  ... 
doi:10.1109/ssd.2017.8167001 dblp:conf/IEEEssd/PonceBAM17 fatcat:6lbol63imjffhezjv6yc6cnheu

5G PPP Architecture Working Group - View on 5G Architecture, Version 4.0

Anastasius Gavras, Ömer Bulakci, Marco Gramaglia, Marius Iordache, Mir Ghoraishi, Antonio Garcia, Tezcan Cogalan, Jesús Gutiérrez, Anna Tzanakaki, Dan Warren, Xi Li, Giada Landi (+4 others)
2021 Zenodo  
All these efforts were captured in the subsequent releases of the white paper (version 2 in January 2018 and version 3 in February 2020).  ...  As a result, it provides a consolidated view of the architectural efforts developed in the projects part of the 5G PPP initiative and other research efforts, including standardization.  ...  In particular, GNSS, inertial systems and Ultra-wideband (UWB) relative positioning .  ... 
doi:10.5281/zenodo.5155657 fatcat:xbjiccshe5cnvfurrh345dynue

Cross-Covariance Models [chapter]

2017 Encyclopedia of GIS  
Synonyms Cadaster; Land administration system; Land information system; Land policy; Land registry; Property register; Spatial reference frames  ...  Efficient tools for extracting information from geo-spatial data are crucial to organizations which make decisions based on large spatial datasets, including the National Aeronautics and Space Administration  ...  Acknowledgements We would like to thank Keith Harries, Dan Helms, Chris Maxwell and Susan Wernicke-Smith for providing comments on this entry in a very short time.  ... 
doi:10.1007/978-3-319-17885-1_100240 fatcat:2ojzb7es7rhofinw4abol6dgc4

Photogrammetric suite to manage the survey workflow in challenging environments and conditions

and Computer Vision and the contribution of this last in the development of the described tools.  ...  The second tool has been conceived as a photogrammetric procedure based on Bundle Block Adjustment.  ...  It is intended to work in indoor environments, where the support of GNSS is denied.  ... 
doi:10.15167/gagliolo-sara_phd2021-10-27 fatcat:nvzvaso52vdi3n7q2crfjlsyxq
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