Iterative Bias Estimation for an Ultra-Wideband Localization System

Three bias estimation frameworks are presented that mitigate position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The frameworks are experimentally evaluated on a quadcopter platform. Two state augmentation...

Anti-lock braking control design using a Nonlinear Model Predictive approach and wheel information

Over the past century, cars have become a fundamental part of our society. With the increasingly larger number of vehicles on the road, safety is, now more than ever, a topic of paramount importance. It is estimated that every year 26,000 people are killed on European roads, corresponding to a social cost of 100 billion euros. In the last two...

Splitting and Merging of Quadrotor Teams Flying in Formation

Quadrotor UAV's have become extremely popular over the last decade, as they combine great agility with mechanic simplicity. For tasks such as area surveillance or maintaining a communication network, the deployment of multi-agent systems is required. In these scenarios, it often is necessary for the robot teams to navigate in formation while...