Project Report: The success criteria was clearly defined by two factors in the project proposal; by the successful peer reviews of submissions to journal and conferences (which indicates contribution of the work to the scientific community), and by three milestones. The accepted publication plan: “At least two conference papers and one journal article are expected in each year.” (i.e. together ...

In this paper a relative localization (RL) system for quadcopters based on ultra-wideband (UWB) ranging measurements is proposed. To achieve the relative localization, UWB modules are installed on the quadcopters to actively measure distances and exchange data package to a hovering quadcopter which is equipped with an identical UWB module. Since instantaneous distanceonly measurements cannot pr...

Access to relative location of nearby vehicles on the local roads or on the freeways is useful for providing critical alerts to the drivers, thereby enhancing their driving experience as well as reducing the chances of accidents. The problem of determining the relative location of two vehicles can be broken into two smaller subproblems: (i) Relative lane localization, where a vehicle determines...

In this work we address the problem of optimal estimating the position of each agent in a network from relative noisy vectorial distances with its neighbors. Although the problem can be cast as a standard least-squares problem, the main challenge is to devise scalable algorithms that allow each agent to estimate its own position by means of only local communication and bounded complexity, indep...

Many object localization applications need the relative locations of a set of objects as oppose to their absolute locations. Although many schemes for object localization using Radio Frequency Identification (RFID) tags have been proposed, they mostly focus on absolute object localization and are not suitable for relative object localization because of large error margins and the special hardwa...

A low cost strategy based on well calibrated odometry is presented for localizing mobile robots. The paper describes a two-step process for correction of 'systematic errors' in encoder measurements followed by fusion of the calibrated odometry with a gyroscope and GPS resulting in a robust localization scheme. A Kalman lter operating on data from the sensors is used for estimating position and ...

The localization capability of a mobile robot is central to basic navigation and map building tasks. We describe a probabilistic environment model which facilitates global localization scheme by means of location recognition. In the exploration stage the environment is partitioned into a class of locations, each characterized by a set of scale-invariant keypoints. The descriptors associated wit...

Existing localization algorithms, such as centroid or fingerprinting, compute the location of a mobile device based on measurements of signal strengths from radio base stations. Unfortunately, these algorithms require tedious and expensive off-line calibration in the target deployment area before they can be used for localization. In this paper, we present Calibree, a novel localization algorit...

This diploma thesis project describes a localization system to measure the relative poses of mobile robots driving in a formation. An overview of existing localization systems is given and several possible measurement methods are discussed. An attempt has been made to characterize the suitability of the Global Positioning System (GPS) for the coordination of a group of mobile robots. A single f...