# Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements

arXiv: https://arxiv.org/abs/2107.08842 · HTML: https://mlsanity.com/paper/2107.08842/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 4 of its 28 references that are in the map.
- First posted on arXiv 19 Jul 2021.

## Builds on (most cited first, 4 of 4)

- [Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms](https://mlsanity.com/paper/2103.04131/) (2021)
- [Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm](https://mlsanity.com/paper/2003.05138/) (2020)
- [Improving positioning accuracy of the mobile laser scanning in GPS-denied environments: An experimental case study](https://mlsanity.com/paper/1911.00041/) (2019)
- [Cooperative Relative Positioning of Mobile Users by Fusing IMU Inertial and UWB Ranging Information](https://mlsanity.com/paper/1704.01397/) (2017)

## Abstract (arXiv)

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the environment is not possible. The traditional Ultra-WideBand (UWB)-based approach provides a good estimation of the distance between the robots, but obtaining the relative pose (including the displacement and orientation) remains challenging. We propose an approach to estimate the relative pose between a group of robots by equipping each robot with multiple UWB ranging nodes. We determine the pose between two robots by minimizing the residual error of the ranging measurements from all UWB nodes. To improve the localization accuracy, we propose to utilize the odometry constraints through a sliding window-based optimization. The optimized pose is then fused with the odometry in a particle filtering for pose tracking among a group of mobile robots. We have conducted extensive experiments to validate the effectiveness of the proposed approach.