Range-Only Localization System for Small-Scale Flapping-Wing Robots
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866929655498407936 |
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| author | Tapia, Raul Rodriguez, Ivan Gutierrez Luna-Santamaria, Javier Dios, Jose Ramiro Martinez-de Ollero, Anibal |
| author_facet | Tapia, Raul Rodriguez, Ivan Gutierrez Luna-Santamaria, Javier Dios, Jose Ramiro Martinez-de Ollero, Anibal |
| contents | The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system particularly designed for small-scale flapping-wing robots. The solution relies on custom 5 grams ultra-wideband sensors and provides robust, very efficient (in terms of both computation and energy consumption), and accurate (mean error of 0.28 meters) 3D position estimation. We validate our system using a Flapper Nimble+ flapping-wing robot. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_01213 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Range-Only Localization System for Small-Scale Flapping-Wing Robots Tapia, Raul Rodriguez, Ivan Gutierrez Luna-Santamaria, Javier Dios, Jose Ramiro Martinez-de Ollero, Anibal Robotics The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system particularly designed for small-scale flapping-wing robots. The solution relies on custom 5 grams ultra-wideband sensors and provides robust, very efficient (in terms of both computation and energy consumption), and accurate (mean error of 0.28 meters) 3D position estimation. We validate our system using a Flapper Nimble+ flapping-wing robot. |
| title | Range-Only Localization System for Small-Scale Flapping-Wing Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.01213 |