Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot
ranging and communication. A major constraint associated with UWB is that only one pair of
UWB transceivers can range at a time to avoid interference, hence hindering the scalability
of UWB-based localization. In this article, a ranging protocol is proposed that allows all
robots to passively listen on neighboring communicating robots without any hierarchical
restrictions on the role of the robots. This is utilized to allow each robot to obtain more range …

Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot
ranging and communication. A major constraint associated with UWB is that only one pair of
UWB transceivers can range at a time to avoid interference, hence hindering the scalability
of UWB-based localization. In this paper, a ranging protocol is proposed that allows all
robots to passively listen on neighbouring communicating robots without any hierarchical
restrictions on the role of the robots. This is utilized to allow each robot to obtain more range …