At the Institute of Communications and Navigation of the German Aerospace Center (DLR), we have studied and developed radio-based swarm navigation technologies for a decade. In this paper, we provide a complete solution of ultra-wide band (UWB) localization network for a robotic swarm. This network is organized in a fully decentralized fashion and resilient to clock imperfections, topology changes, packet loss and the hidden node problem. In this network, a multitude of active devices and an arbitrary number of passive devices can exploit the UWB signals for self-localization, i.e. estimating their relative positions and orientations, without sophisticated clock and antenna calibration, which dramatically simplifies the de-sign and manufacturing of such a swarm. Our proposed solution is verified with experiments and was successfully demonstrated in a space-analogue multi-robot surface exploration mission on the volcano Mt. Etna, Sicily, Italy, in July 2022.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Self-Organized UWB Localization for Robotic Swarm – First Results from an Analogue Mission on Volcano Etna


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2023-03-04


    Format / Umfang :

    27576605 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Self-Organized UWB Localization for Robotic Swarm – First Results from an Analogue Mission on Volcano Etna

    Zhang, Siwei / Fernandez Ruz, Pedro / Broghammer, Fabio et al. | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2023

    Freier Zugriff


    Preliminary Results for the Multi-Robot, Multi-Partner, Multi-Mission, Planetary Exploration Analogue Campaign on Mount Etna

    Wedler, Armin / Müller, Marcus Gerhard / Schuster, Martin et al. | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2021

    Freier Zugriff

    Robotic swarm localization using ranging radios

    LACAZE ALBERTO DANIEL / MURPHY KARL NICHOLAS / PUTNEY JOSEPH et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Robotic swarm localization using ranging radios

    LACAZE ALBERTO DANIEL / MURPHY KARL NICHOLAS / PUTNEY JOSEPH et al. | Europäisches Patentamt | 2021

    Freier Zugriff