Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots

Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising lightweight, low-cost solution that can scale to a large number of dev...

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Veröffentlicht in:	IEEE robotics and automation letters 2021-04, Vol.6 (2), p.3639-3646
Hauptverfasser:	Zhao, Wenda, Panerati, Jacopo, Schoellig, Angela P.
Format:	Artikel
Sprache:	eng
Schlagworte:	Aerial systems Bias Error reduction Learning Localization Location awareness Measurement uncertainty Mobile robots Multiple robots Outliers (statistics) perception and autonomy Robotics Robots Robustness Systematics Time difference of arrival Ultrawideband Uncertainty Warehousing management
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