Environment Mapping based on UWB Tags

In aspects of environment mapping based on UWB tags, a system includes ultra-wideband (UWB) tags located for association with respective objects in an environment, where each UWB tag is identified with a digital label indicative of the association with one or more of the objects. A mapping module is implemented to determine a location of each of the UWB tags in the environment, and determine relative positions of each of the UWB tags with respect to each other. The mapping module can generate a location association map of the objects in the environment based on the location and the relative position of each of the UWB tags associated with the respective objects. In an environment within a building, the mapping module can generate the location association map as a floor plan of the building, including the objects location in the building.