MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments
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arXiv
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866929454793621504 |
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| author | Fishberg, Andrew Quiter, Brian How, Jonathan P. |
| author_facet | Fishberg, Andrew Quiter, Brian How, Jonathan P. |
| contents | Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with additional continuously transmitted data (e.g., odometry) leading to potential scaling issues with increased team size and/or decreased communication network capability. By equipping each agent with multiple UWB antennas, our approach addresses these concerns by using only locally collected UWB range measurements, a priori state constraints, and event-based detections of when said constraints are violated. The addition of our learned mean ranging bias correction improves our approach by an additional 19% positional error, and gives us an overall experimental mean absolute position and heading errors of 0.24m and 9.5 degrees respectively. When compared to other state-of-the-art approaches, our work demonstrates improved performance over similar systems, while remaining competitive with methods that have significantly higher communication costs. Additionally, we make our datasets available. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_17731 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments Fishberg, Andrew Quiter, Brian How, Jonathan P. Robotics Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system where each participating agent is equipped with several ultra-wideband (UWB) ranging tags. Prior work typically supplements noisy UWB range measurements with additional continuously transmitted data (e.g., odometry) leading to potential scaling issues with increased team size and/or decreased communication network capability. By equipping each agent with multiple UWB antennas, our approach addresses these concerns by using only locally collected UWB range measurements, a priori state constraints, and event-based detections of when said constraints are violated. The addition of our learned mean ranging bias correction improves our approach by an additional 19% positional error, and gives us an overall experimental mean absolute position and heading errors of 0.24m and 9.5 degrees respectively. When compared to other state-of-the-art approaches, our work demonstrates improved performance over similar systems, while remaining competitive with methods that have significantly higher communication costs. Additionally, we make our datasets available. |
| title | MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2312.17731 |