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

6 Citations (Scopus)


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, WF-IoT 2018 - Proceedings
Subtitle of host publicationProceedings
EditorsHausi A. Mueller, Yu Rongshan, Antonio Skarmeta
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781467399449
ISBN (Print)9781467399456
Publication statusPublished - 2018
EventIEEE World Forum on Internet of Things (WF-IoT) 2018 - Singapore, Singapore
Duration: 5 Feb 20188 Feb 2018
Conference number: 4th
https://ieeexplore.ieee.org/xpl/conhome/8353083/proceeding (Proceedings)


ConferenceIEEE World Forum on Internet of Things (WF-IoT) 2018
Abbreviated titleWF-IoT 2018
Internet address


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

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