Ultra-Wideband Localization for Multi-Robot Systems

Khepera III with Ubisense emitter

Ultra-wideband (UWB) is considered one of the most promising indoor positioning technologies currently available, especially due to its fine time resolution. Furthermore, wireless localization signals (in particular those relying on UWB) are able to penetrate through objects in non-line-of-sight (NLOS) scenarios due to their large frequency spectra. Yet, despite the technology’s otherwise desirable traits, such NLOS scenarios cause biases in the signal propagation times, which may ultimately lead to significant localization errors.
In this project, we aim to develop accurate and efficient localization methods for UWB time-difference-of-arrival signals. In this context, we will study the benefits of collaborative localization algorithms running on distribted systems and consider the fusion of relative observation data with UWB data. By addressing the peculiarties of UWB signals with creative solutions, we hope to mitigate the disadvantages of the method while harnessing its advantages.
Even though applications of localization systems are presumed to go well beyond robotic applications, a development platform based on mobile robots has been selected, among others because it allows repeatable measurements required for reliable performance evaluations. The ultimate goal of the project is to develop a system that allows a team of mobile robots to locate themselves with high precision (order of a few centimeters) and with high frequency (at least once per second).

Team and Collaborators

In collaboration with:

  • Cyril Botteron
  • Pierre-Andre Farine
  • Alexander Feldmann
  • Catherine Dehollain
  • Stephane Robert
  • Anja Skrivervik


National Center of Competence in Research:
Mobile Information & Communication Systems (NCCR MICS)

  • DISAL-SU19: Lucas Gonon, An Efficient Ultra-Wideband TDOA Measurement Model
  • DISAL-SP33: Dimitrios Chalikopoulos, Towards a Spatial Model of Ultra-Wideband Ranging Bias
  • DISAL-SP36 : Rafael Mosberger, Collective Robot Localization: Information Merging and Sensor Fusion Strategies
  • DISAL-IP13: Adrian Arfire, Experimental Evaluation of the Khepera III Robot Towards Navigation Research
  • DISAL-SU18: Louis Saint-Raymond, Dynamic Object Tracking for Mobile Robot Localization



Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration

A. Prorok; A. Martinoli 

International Journal of Robotics Research (IJRR). 2014. Vol. 33, num. 4, p. 547-568. DOI : 10.1177/0278364913500364.


Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems

A. S. M. Prorok / A. Martinoli (Dir.)  

Lausanne, EPFL, 2013. 

Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration

A. Prorok; A. Martinoli 

2013. 13th International Symposium on Experimental Robotics (ISER), Quebec, Canada, June, 2012. p. 321-335. DOI : 10.1007/978-3-319-00065-7_23.


Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization

A. Prorok; L. Gonon; A. Martinoli 

2012. IEEE International Conference on Robotics and Automation (ICRA), May, 2012. p. 807-814. DOI : 10.1109/ICRA.2012.6224869.


Accommodation of NLOS for Ultra-Wideband TDOA Localization in Single- and Multi-Robot Systems

A. Prorok; P. Tomé; M. Alcherio 

2011. International Conference on Indoor Positioning and Indoor Navigation (IPIN), Portugal, September 21-23, 2011.

A Framework for NLOS Ultra-Wideband Ranging in Collaborative Mobile Robot Systems

A. Prorok; P. Tomé; A. Martinoli 

2011. International Conference on Indoor Positioning and Indoor Navigation (IPIN), Minho, Portugal, September, 2011.


Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-study on Ultra-wideband Positioning

A. Prorok; A. Arfire; A. Bahr; J. Farserotu; A. Martinoli 

2010. IEEE International Conference on Indoor Positioning and Indoor Navigation (IPIN), ETH Zurich, September 15-17, 2010. p. 1-9. DOI : 10.1109/IPIN.2010.5647880.