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PolyPoint: Guiding Indoor Quadrotors with Ultra-Wideband Localization

Authors:

Benjamin Kempke,

Prabal DuttaAuthors Info & Claims

HotWireless '15: Proceedings of the 2nd International Workshop on Hot Topics in Wireless

Pages 16 - 20

https://doi.org/10.1145/2799650.2799651

Published: 11 September 2015 Publication History

Abstract

We introduce PolyPoint, the first RF localization system which enables the real-time tracking and navigating of quadrotors through complex indoor environments. PolyPoint leverages the new ScenSor transceiver from DecaWave to acquire the timestamps necessary for accurate time-based location estimation and leverages the benefits of antenna and frequency diversity to iteratively refine a tag's position. PolyPoint produces quadrotor position estimates at a rate of 20 Hz with median error below 40 cm and average error of 56 cm in line-of-sight conditions. PolyPoint approaches the localization accuracy necessary to safely navigate quadrotors indoors, a feat currently achieved by costly and delicate optical motion capture systems.

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Cited By

Coppens DShahid ADe Poorter E(2024)Deep Reinforcement Learning for Automatic Run-Time Adaptation of UWB PHY Radio SettingsIEEE Transactions on Cognitive Communications and Networking10.1109/TCCN.2023.332244810:1(64-79)Online publication date: Feb-2024
https://doi.org/10.1109/TCCN.2023.3322448
Qassab AKhan MIrfanoglu B(2024)Autonomous landing of a quadrotor on a moving platform using motion capture systemDiscover Applied Sciences10.1007/s42452-024-05986-z6:6Online publication date: 2-Jun-2024
https://doi.org/10.1007/s42452-024-05986-z
Chen TChan JGollakota SSchulzrinne HKohler EMaltz DMisra V(2023)Underwater 3D positioning on smart devicesProceedings of the ACM SIGCOMM 2023 Conference10.1145/3603269.3604851(33-48)Online publication date: 10-Sep-2023
https://dl.acm.org/doi/10.1145/3603269.3604851
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Index Terms

PolyPoint: Guiding Indoor Quadrotors with Ultra-Wideband Localization
1. Hardware

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Published In

cover image ACM Conferences

HotWireless '15: Proceedings of the 2nd International Workshop on Hot Topics in Wireless

September 2015

58 pages

ISBN:9781450336994

DOI:10.1145/2799650

Program Chairs:
Ranveer Chandra
Microsoft Research
,
Kannan Srinivasan
The Ohio State University

Copyright © 2015 Owner/Author.

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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SIGMOBILE: ACM Special Interest Group on Mobility of Systems, Users, Data and Computing

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 11 September 2015

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MobiCom'15

Sponsor:

SIGMOBILE

MobiCom'15: The 21th Annual International Conference on Mobile Computing and Networking

September 11, 2015

Paris, France

Acceptance Rates

HotWireless '15 Paper Acceptance Rate 10 of 16 submissions, 63%;

Overall Acceptance Rate 30 of 42 submissions, 71%

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Cited By

Coppens DShahid ADe Poorter E(2024)Deep Reinforcement Learning for Automatic Run-Time Adaptation of UWB PHY Radio SettingsIEEE Transactions on Cognitive Communications and Networking10.1109/TCCN.2023.332244810:1(64-79)Online publication date: Feb-2024
https://doi.org/10.1109/TCCN.2023.3322448
Qassab AKhan MIrfanoglu B(2024)Autonomous landing of a quadrotor on a moving platform using motion capture systemDiscover Applied Sciences10.1007/s42452-024-05986-z6:6Online publication date: 2-Jun-2024
https://doi.org/10.1007/s42452-024-05986-z
Chen TChan JGollakota SSchulzrinne HKohler EMaltz DMisra V(2023)Underwater 3D positioning on smart devicesProceedings of the ACM SIGCOMM 2023 Conference10.1145/3603269.3604851(33-48)Online publication date: 10-Sep-2023
https://dl.acm.org/doi/10.1145/3603269.3604851
Savvakis PVosniakos GStathatos EDebar-Monclair AChodnicki MBenardos P(2023)UWB-Based Indoor Navigation in a Flexible Manufacturing System Using a Custom Quadrotor UAVFlexible Automation and Intelligent Manufacturing: Establishing Bridges for More Sustainable Manufacturing Systems10.1007/978-3-031-38241-3_11(91-98)Online publication date: 24-Aug-2023
https://doi.org/10.1007/978-3-031-38241-3_11
Zhang FYang LLiu YDing YYang SLi H(2022)Design and Implementation of Real-Time Localization System (RTLS) Based on UWB and TDoA AlgorithmSensors10.3390/s2212435322:12(4353)Online publication date: 8-Jun-2022
https://doi.org/10.3390/s22124353
Yang JDong BWang J(2022)VULocProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35502866:3(1-25)Online publication date: 7-Sep-2022
https://dl.acm.org/doi/10.1145/3550286
Grathwohl AStelzig MKanz JFenske PBenedikter AKnill CUllmann IHajnsek IMoreira AKrieger GVossiek MWaldschmidt C(2022)Taking a Look Beneath the Surface: Multicopter UAV-Based Ground-Penetrating Imaging RadarsIEEE Microwave Magazine10.1109/MMM.2022.318812623:10(32-46)Online publication date: Oct-2022
https://doi.org/10.1109/MMM.2022.3188126
Fukushima TMurakami TAbeysekera HFujihashi TWatanabe TSaruwatari S(2022)Feasibility Study of Practical AoA Estimation Using Compressed CSI on Commercial WLAN DevicesIEEE Access10.1109/ACCESS.2022.315933210(49128-49141)Online publication date: 2022
https://doi.org/10.1109/ACCESS.2022.3159332
Steup CBeckhaus JMostaghim S(2021)A Single-Copter UWB-Ranging-Based Localization System Extendable to a Swarm of DronesDrones10.3390/drones50300855:3(85)Online publication date: 30-Aug-2021
https://doi.org/10.3390/drones5030085
Chen WXu JZhao XLiu YYang J(2021)Separated Sonar Localization System for Indoor Robot NavigationIEEE Transactions on Industrial Electronics10.1109/TIE.2020.299485668:7(6042-6052)Online publication date: Jul-2021
https://doi.org/10.1109/TIE.2020.2994856
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