L-SMNR
Abstract
L-SMNR is designed to provide flexible, scalable, and accurate location-awareness for multi-robot systems. This method designs a new localization sensor featuring UWB arrays, enabling pairwise relative localization without relying on external infrastructures. Beyond hardware design, L-SMNR optimizes the wireless protocol to ensure scalability and timeliness for accommodating larger swarm sizes, and proposes advanced signal processing methods to acquire high-accuracy position estimations from received signals. Our scheme is poised to serve as the foundational infrastructure for multi-robot systems, equipping them with reliable position-awareness to navigate safely, accomplish complex tasks, and revolutionize traditional practices in diverse domains.
Highlights
Devise a signal-multiplexing network ranging scheme for positioning and clock synchronization, which incorporates a novel measuring protocol to maximize the measuring update rates and maximum-likelihood range estimations to mitigate the coupling effects of clock errors and node mobility.
Propose novel calibration methods to correct ranging and bearing errors, which are adaptable to different estimation methods, and require minimal manual calibration.
Develop a relative localization algorithm that leverages intra- and inter-node cooperation with coordinate reference alignment to reconstruct the geometric relationships among the nodes.
Papers
“L-SMNR: A flexible, scalable, and accurate localization scheme for multi-agent systems” (in preparation)
Z. Zhang\(^\dagger\), H. Zhao\(^\dagger\), J. Wang, and Y. Shen, “Signal-multiplexing ranging for network localization,” IEEE Trans. Wireless Commun., vol. 21, no. 3, pp. 1694–1709, Mar. 2022. (\(^\dagger\) equal contribution)
H. Zhao, Z. Zhang, Z. Zhang, and Y. Shen, “A signal-multiplexing ranging scheme for integrated localization and sensing,” IEEE Wireless Commun. Lett., vol. 11, no. 8, pp. 1609-1613, Aug. 2022.
Z. Zhang, H. Zhao, and Y. Shen, “High-efficient ranging algorithms for wireless sensor network,” in Proc. Int. Conf. on Wireless Commun. and Signal Process., Xi’an, China, Oct. 2019, pp. 1–6.