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Robotic swarms are promising technique to explore infrastructure-less environments. Many researches in robotic swarm focus on the swarm control and assume an external source for the swarm location information. In this paper, we investigate the radio-based anchor-free localization problem for a robotic swarm. Formation is estimated collectively with only inter-agent distance measurements using the...
In this paper we present the results of real-life localization experiments performed in an unprecedented cooperative and heterogeneous wireless context. These measurements are based on ZigBee and orthogonal frequency division multiplexing (OFDM) devices, respectively endowed with received signal strength indicator (RSSI) and round trip delay (RTD) estimation capabilities. More particularly we emulate...
Swarm navigation systems are emerging technique to investigate unknown environment. Organizing the access of shared radio channel is one of the main challenges due to the massive number of anarchical agents and the crucial mission requirements, e.g. update-rate and position accuracy. In this paper, we design a radio-based swarm navigation system and propose a pulse-coupled oscillators (PCO)-based...
Accurate range estimation is a fundamental and crucial part of any position estimation technique. State-of-the-art systems exploiting OFDM modulated signals use narrowband block-type synchronization symbols or a scattered pilot structure. These synchronization symbols are mainly designed to allow communication only. Their timing estimation performance is not sufficient for ranging and especially for...
Indoor localization is one key element in current and future mobile applications and services. Based on the estimate of ranges between the mobile user and anchors, like base stations or access points, and between mobile users in the cooperative context, geolocation algorithms must be robust in crowded and multipath-rich indoor environments. Channel models play a fundamental role in the validation...
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