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SUMMARY:Models and Algorithms for Ultra-Wideband Localization in Single- a
 nd Multi-Robot Systems - Public Thesis Defense
DTSTART:20130607T170000
DTEND:20130607T183000
DTSTAMP:20260609T201338Z
UID:6736f3ebd52861b5b45772c43fb2f806f4ba868ba33fd3fa03269a59
CATEGORIES:Thesis defenses
DESCRIPTION:Amanda Prorok\nThe United Nations predict that by 2020\, over 
 80% of the worlds population will live in urban settings\, with a large sh
 ift of activities to the indoors. Indoor localization is predictably a gam
 e-changing technology. In this context\, this thesis focuses on the develo
 pment of efficient methods for two complementary and orthogonal sub-domain
 s of indoor localization\, (i) ultra-wideband localization and (ii) collab
 orative localization\, with the ultimate aim of presenting a unified frame
 work\, and understanding the benefits of their combined usage.\nFirst\, ul
 tra-wideband (UWB) counts among the most interesting technologies for abso
 lute indoor localization to date. Owing to its fine delay resolution and i
 ts ability to penetrate through various materials\, UWB provides a potenti
 ally high ranging accuracy\, even in non-line-of-sight (NLOS) environments
 . Our work improves upon state-of-the-art by addressing the peculiarities 
 of UWB error behavior in harsh NLOS  scenarios. By proposing a compact UW
 B error model and an efficient calibration algorithm\, we are able to achi
 eve centimeter-level accuracy in cluttered environments.\nSecond\, collabo
 rative strategies are particularly interesting because they can harness in
 formation distributed over large-scale networked systems. To this means\, 
 we develop a relative positioning model based on range and bearing measure
 ments\, and that allows easy integration with our UWB localization method.
  We tailor a unified localization framework that supports low cost\, flexi
 bility\, and full decentralization\, and that is a viable solution for lar
 ge-scale systems composed of miniature devices. Finally\, we take care to 
 validate all aspects of our work with real world experimentation\, using r
 obot teams of up to 10 units in size.
LOCATION:BC 01 https://plan.epfl.ch/?room==BC%2001
STATUS:CONFIRMED
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