Ultra-wideband and odometry-based cooperative relative localization with application to multi-UAV formation control

• Main Authors: Guo, Kexin, Li, Xiuxian, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; GPS-Denied Environments; Distributed Formation Control
• Online Access: https://hdl.handle.net/10356/161236
• Institution: Nanyang Technological University

This puts forth an infrastructure-free cooperative relative localization (RL) for unmanned aerial vehicles (UAVs) in global positioning system (GPS)-denied environments. Instead of estimating relative coordinates with vision-based methods, an onboard ultra-wideband (UWB) ranging and communication (R...