Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization
Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight and multipath detection methods. However, little attention h...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-12-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2023.1190296/full |
| _version_ | 1797383001579978752 |
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| author | Sahar Salimpour Paola Torrico Morón Xianjia Yu Tomi Westerlund Jorge Peña-Queralta Jorge Peña-Queralta |
| author_facet | Sahar Salimpour Paola Torrico Morón Xianjia Yu Tomi Westerlund Jorge Peña-Queralta Jorge Peña-Queralta |
| author_sort | Sahar Salimpour |
| collection | DOAJ |
| description | Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight and multipath detection methods. However, little attention has been paid to resilience against disturbances in relative localization systems involving multiple nodes. This paper presents an approach to detecting range anomalies in UWB ranging measurements from the perspective of multi-robot cooperative localization. We introduce an approach to exploiting redundancy for relative localization in multi-robot systems, where the position of each node is calculated using different subsets of available data. This enables us to effectively identify nodes that present ranging anomalies and eliminate their effect within the cooperative localization scheme. We analyze anomalies created by timing errors in the ranging process, e.g., owing to malfunctioning hardware. However, our method is generic and can be extended to other types of ranging anomalies. Our approach results in a more resilient cooperative localization framework with a negligible impact in terms of the computational workload. |
| first_indexed | 2024-03-08T21:13:30Z |
| format | Article |
| id | doaj.art-8e782e6a1cd3423e8c8e960150064da3 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-08T21:13:30Z |
| publishDate | 2023-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-8e782e6a1cd3423e8c8e960150064da32023-12-22T04:20:01ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442023-12-011010.3389/frobt.2023.11902961190296Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localizationSahar Salimpour0Paola Torrico Morón1Xianjia Yu2Tomi Westerlund3Jorge Peña-Queralta4Jorge Peña-Queralta5Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, FinlandTurku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, FinlandTurku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, FinlandTurku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, FinlandTurku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku, Turku, FinlandSCAI Laboratory at SPZ, Swiss Federal School of Technology in Zürich–ETH Zürich, Zürich, SwitzerlandUltra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight and multipath detection methods. However, little attention has been paid to resilience against disturbances in relative localization systems involving multiple nodes. This paper presents an approach to detecting range anomalies in UWB ranging measurements from the perspective of multi-robot cooperative localization. We introduce an approach to exploiting redundancy for relative localization in multi-robot systems, where the position of each node is calculated using different subsets of available data. This enables us to effectively identify nodes that present ranging anomalies and eliminate their effect within the cooperative localization scheme. We analyze anomalies created by timing errors in the ranging process, e.g., owing to malfunctioning hardware. However, our method is generic and can be extended to other types of ranging anomalies. Our approach results in a more resilient cooperative localization framework with a negligible impact in terms of the computational workload.https://www.frontiersin.org/articles/10.3389/frobt.2023.1190296/fullmulti-robot systemsultra-wideband (UWB) localizationanomaly detectionmulti-robot localizationUWB positioningrelative localization |
| spellingShingle | Sahar Salimpour Paola Torrico Morón Xianjia Yu Tomi Westerlund Jorge Peña-Queralta Jorge Peña-Queralta Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization Frontiers in Robotics and AI multi-robot systems ultra-wideband (UWB) localization anomaly detection multi-robot localization UWB positioning relative localization |
| title | Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization |
| title_full | Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization |
| title_fullStr | Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization |
| title_full_unstemmed | Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization |
| title_short | Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization |
| title_sort | exploiting redundancy for uwb anomaly detection in infrastructure free multi robot relative localization |
| topic | multi-robot systems ultra-wideband (UWB) localization anomaly detection multi-robot localization UWB positioning relative localization |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2023.1190296/full |
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