Range-only (RO) pose estimation involves determining a robot's pose over time by
measuring the distance between multiple devices on the robot, known as tags, and devices …

Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as
a promising, low-cost, and scalable indoor localization solution, which is especially suited …

Tight integration of low-cost ultrawideband (UWB) ranging sensors with mass-market Global
Navigation Satellite System (GNSS) receivers is gaining attention as a high-accuracy …

In this article, we present a novel ultrawideband (UWB)-inertial measurement unit (IMU)-
odometer fusion localization scheme for nonholonomic ground robots in global positioning …

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the
complementary benefits of range-based sensors and visual-inertial odometry (VIO) for …

Ultra-Wide-Band (UWB) ranging sensors have been widely adopted for robotic navigation
thanks to their extremely high bandwidth and hence high resolution. However, off-the-shelf …

Range-only (RO) localization involves determining the position of a mobile robot by
measuring the distance to specific anchors. RO localization is challenging since the …

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for
online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for …

Navigating accurately in potentially GPS-denied environments is a perquisite of autonomous
systems. Relative localization based on ultra-wideband (UWB) is-especially indoors-a …

In this dissertation, we investigate the issue of robust localization in swarms of
heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus …