Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging

Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem that has not been satisfactorily solved. In this work, based on the range-based peer-to-peer RL using the...

Multiple Subbands Ranging Signals Design and Investigation on Frequency Dependence of the Subband Channel Impulse Responses within an Ultra-wideband Channel

This thesis covers two topics. The first one is signal design for accurate Time-of-Arrival estimation using a number of frequency separated signals. Rather than use a full UWB band, we will use sparse subband signals spanning the full band to construct a new virtual UWB signal. To evaluate the performance of the constructed signal, Cramer-Rao...

Design of a Hybrid-Range-LiDAR SLAM algorithm: a graph-based approach to SLAM using ultra-wideband radios

A fundamental prerequisite for many robot-tasks is the availability of an environment model. The ability of a robot to create such a model itself is crucial to having truly autonomous robots around in our daily lives. For basic robot-tasks, a two-dimensional grid-map that describes a distinction between inhabitable and uninhabitable space is a...