A low cost omnidirectional relative localization sensor for swarm applications

Anton Kohlbacher, Jens Eliasson, Kevin Acres, Hoam Chung, Jan Carlo Barca

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

By enabling coordinated task execution and movement, robotic swarms can achieve efficient exploration of unknown environments. In this paper, we propose a relative localization sensor system using Ultra-wideband (UWB) radio technology for ranging. This system is light-weight and relatively indifferent to the types of surrounding environments. Infrastructure dependency such as the requirement of beacons at known locations is eliminated by making an array of sensors on a swarm agent. In this paper, a novel algorithm is implemented on hardware with limited resources and compared to a more traditional trilateration approach. Both utilize Particle Swarm Optimization (PSO) to be more robust against noise and to achieve similar accuracy. The experimental results show that the proposed algorithm runs up to ten times faster than the existing trilateration approach. The sensor array which forms the localization system weighs only 56g, and achieves around 0.5m RMSE with a 10Hz update rate. Experiments show that the accuracy can be further improved if the rotational bias observed in the UWB devices are compensated for.

Original languageEnglish
Title of host publicationIEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore
Subtitle of host publicationProceedings
EditorsHausi Mueller, Yu Rongshan, Antonio Skarmeta
Place of PublicationNew York NY USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages694-699
Number of pages6
ISBN (Electronic)9781467399449
ISBN (Print)9781467399456
DOIs
Publication statusPublished - 2018
EventIEEE World Forum on Internet of Things (WF-IoT) 2018 - Singapore, Singapore
Duration: 5 Feb 20188 Feb 2018
Conference number: 4th

Conference

ConferenceIEEE World Forum on Internet of Things (WF-IoT) 2018
Abbreviated titleWF-IoT 2018
CountrySingapore
CitySingapore
Period5/02/188/02/18

Keywords

  • Angulation
  • PSO
  • Relative Localization
  • Swarm Robotics
  • Trilateration
  • UWB

Cite this

Kohlbacher, A., Eliasson, J., Acres, K., Chung, H., & Barca, J. C. (2018). A low cost omnidirectional relative localization sensor for swarm applications. In H. Mueller, Y. Rongshan, & A. Skarmeta (Eds.), IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore: Proceedings (pp. 694-699). New York NY USA: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/WF-IoT.2018.8355093
Kohlbacher, Anton ; Eliasson, Jens ; Acres, Kevin ; Chung, Hoam ; Barca, Jan Carlo. / A low cost omnidirectional relative localization sensor for swarm applications. IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore: Proceedings . editor / Hausi Mueller ; Yu Rongshan ; Antonio Skarmeta. New York NY USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. pp. 694-699
@inproceedings{bb943b65ee3e4736b0c55656be3caedc,
title = "A low cost omnidirectional relative localization sensor for swarm applications",
abstract = "By enabling coordinated task execution and movement, robotic swarms can achieve efficient exploration of unknown environments. In this paper, we propose a relative localization sensor system using Ultra-wideband (UWB) radio technology for ranging. This system is light-weight and relatively indifferent to the types of surrounding environments. Infrastructure dependency such as the requirement of beacons at known locations is eliminated by making an array of sensors on a swarm agent. In this paper, a novel algorithm is implemented on hardware with limited resources and compared to a more traditional trilateration approach. Both utilize Particle Swarm Optimization (PSO) to be more robust against noise and to achieve similar accuracy. The experimental results show that the proposed algorithm runs up to ten times faster than the existing trilateration approach. The sensor array which forms the localization system weighs only 56g, and achieves around 0.5m RMSE with a 10Hz update rate. Experiments show that the accuracy can be further improved if the rotational bias observed in the UWB devices are compensated for.",
keywords = "Angulation, PSO, Relative Localization, Swarm Robotics, Trilateration, UWB",
author = "Anton Kohlbacher and Jens Eliasson and Kevin Acres and Hoam Chung and Barca, {Jan Carlo}",
year = "2018",
doi = "10.1109/WF-IoT.2018.8355093",
language = "English",
isbn = "9781467399456",
pages = "694--699",
editor = "Mueller, {Hausi } and Rongshan, {Yu } and Antonio Skarmeta",
booktitle = "IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore",
publisher = "IEEE, Institute of Electrical and Electronics Engineers",
address = "United States of America",

}

Kohlbacher, A, Eliasson, J, Acres, K, Chung, H & Barca, JC 2018, A low cost omnidirectional relative localization sensor for swarm applications. in H Mueller, Y Rongshan & A Skarmeta (eds), IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore: Proceedings . IEEE, Institute of Electrical and Electronics Engineers, New York NY USA, pp. 694-699, IEEE World Forum on Internet of Things (WF-IoT) 2018, Singapore, Singapore, 5/02/18. https://doi.org/10.1109/WF-IoT.2018.8355093

A low cost omnidirectional relative localization sensor for swarm applications. / Kohlbacher, Anton; Eliasson, Jens; Acres, Kevin; Chung, Hoam; Barca, Jan Carlo.

IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore: Proceedings . ed. / Hausi Mueller; Yu Rongshan; Antonio Skarmeta. New York NY USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. p. 694-699.

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

TY - GEN

T1 - A low cost omnidirectional relative localization sensor for swarm applications

AU - Kohlbacher, Anton

AU - Eliasson, Jens

AU - Acres, Kevin

AU - Chung, Hoam

AU - Barca, Jan Carlo

PY - 2018

Y1 - 2018

N2 - By enabling coordinated task execution and movement, robotic swarms can achieve efficient exploration of unknown environments. In this paper, we propose a relative localization sensor system using Ultra-wideband (UWB) radio technology for ranging. This system is light-weight and relatively indifferent to the types of surrounding environments. Infrastructure dependency such as the requirement of beacons at known locations is eliminated by making an array of sensors on a swarm agent. In this paper, a novel algorithm is implemented on hardware with limited resources and compared to a more traditional trilateration approach. Both utilize Particle Swarm Optimization (PSO) to be more robust against noise and to achieve similar accuracy. The experimental results show that the proposed algorithm runs up to ten times faster than the existing trilateration approach. The sensor array which forms the localization system weighs only 56g, and achieves around 0.5m RMSE with a 10Hz update rate. Experiments show that the accuracy can be further improved if the rotational bias observed in the UWB devices are compensated for.

AB - By enabling coordinated task execution and movement, robotic swarms can achieve efficient exploration of unknown environments. In this paper, we propose a relative localization sensor system using Ultra-wideband (UWB) radio technology for ranging. This system is light-weight and relatively indifferent to the types of surrounding environments. Infrastructure dependency such as the requirement of beacons at known locations is eliminated by making an array of sensors on a swarm agent. In this paper, a novel algorithm is implemented on hardware with limited resources and compared to a more traditional trilateration approach. Both utilize Particle Swarm Optimization (PSO) to be more robust against noise and to achieve similar accuracy. The experimental results show that the proposed algorithm runs up to ten times faster than the existing trilateration approach. The sensor array which forms the localization system weighs only 56g, and achieves around 0.5m RMSE with a 10Hz update rate. Experiments show that the accuracy can be further improved if the rotational bias observed in the UWB devices are compensated for.

KW - Angulation

KW - PSO

KW - Relative Localization

KW - Swarm Robotics

KW - Trilateration

KW - UWB

UR - http://www.scopus.com/inward/record.url?scp=85050488383&partnerID=8YFLogxK

U2 - 10.1109/WF-IoT.2018.8355093

DO - 10.1109/WF-IoT.2018.8355093

M3 - Conference Paper

SN - 9781467399456

SP - 694

EP - 699

BT - IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore

A2 - Mueller, Hausi

A2 - Rongshan, Yu

A2 - Skarmeta, Antonio

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - New York NY USA

ER -

Kohlbacher A, Eliasson J, Acres K, Chung H, Barca JC. A low cost omnidirectional relative localization sensor for swarm applications. In Mueller H, Rongshan Y, Skarmeta A, editors, IEEE World Forum on Internet of Things, February 5-8, 2048 - Singapore: Proceedings . New York NY USA: IEEE, Institute of Electrical and Electronics Engineers. 2018. p. 694-699 https://doi.org/10.1109/WF-IoT.2018.8355093