Collaborative Localization and Tracking with Minimal Infrastructure

摘要

Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. However, accurate tracking of a large number of devices in large areas with many rooms is very challenging: generally, one needs substantial infrastructure (infrared tracking systems, cameras, wireless antennas, etc.) for each room. This paper aims at covering a large number of devices distributed in many of small rooms, with minimal localization infrastructure. We use Ultra-wideband (UWB) technology in a device-2-device collaborative setting to develop a localization solution requiring a minimal number of fixed anchors. We present a strategy that autonomously shares the UWB network among devices and allows fast and accurate localization and tracking. We show results from an experimental campaign tracking visitors in the Chambord castle in France.