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Paola Cecilia Torrico Morón, "UWB Mesh Network and Positioning for Multi-robot Systems," Master's Thesis, Telecommunication Networks Group (TKN), TU Berlin (TUB), January 2022. (Advisor: Tomi Westerlund; Referees: Falko Dressler and Tomi Westerlund)


The increase demand for autonomous mobile robots has been the trend of the industry in the last years. The localization of the robots can sometimes be performed using Global Navigation Satellite System (GNSS) systems. However there exits environments that are GNSS-denied an need different types of localization. Systems as Light Detection and Ranging (LiDAR) and Visual Inertial Odometry (VIO) cameras could be an alternative. Nonetheless, these alternatives also depend on the environment visibility conditions to work properly. Here radio communications like Wi-Fi, Bluetooth or Ultra Wide Band (UWB) can be easily implemented. UWB technology has increased its popularity over Bluetooth or Wi-Fi solutions, due to its higher level of accuracy. UWB can achieve centimeter level accuracy for distance estimation. For the position estimation of a system of UWB nodes several nodes are needed either for Time of flight (ToF) ranging or Time Difference of Arrival (TDoA). The applicability of either is limited due to the necessity of implementing fix node and due to its lack of scalability for some of the current proposed solutions. This work will propose a networks with mobile anchors that communicate constantly with other anchors utilizing ToF ranging, and more nodes acting as listeners using passive TDoA. The implementation of the passive listeners creates an scalable system. The problem of having listener nodes outside of the convex envelope of the signals due to anchor movement is addressed by a dynamic role allocation algorithm, that changes the role of the nodes of the system when necessary. The results of the implementation of the network show that it level of error is on par to other exiting solutions. The possibilities of expanding the network with sensor fussion were also explored.

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Paola Cecilia Torrico Morón

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    author = {Torrico Mor{\'{o}}n, Paola Cecilia},
    title = {{UWB Mesh Network and Positioning for Multi-robot Systems}},
    advisor = {Westerlund, Tomi},
    institution = {Telecommunication Networks Group (TKN)},
    location = {Berlin, Germany},
    month = {1},
    referee = {Dressler, Falko and Westerlund, Tomi},
    school = {TU Berlin (TUB)},
    type = {Master's Thesis},
    year = {2022},

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