Drupt, Mme Juliette (2020) Localisation coopérative pour une flotte de robots par UWB – Rapport de stage PFE - Project Graduation, ENSTA.



This internship is about simultaneous multi-robot localization using embedded sensors only. It focuses on cooperative localization, and more specially on one cooperative localization algorithm : a decentralized Kalman filter using odometry and relative distance measurements. The relative distance measurements are to be acquired using Ultra-Wide Band (UWB) tranceivers. The aim of this internship is, on the one hand, to program the UWB Decawave DWM1000 tranceivers the lab’s robots were about to be equipped with and, on the other hand, to implement and evaluate the filter itself using the lab’s robots.

Item Type:Thesis (PFE - Project Graduation)
Subjects:Information and Communication Sciences and Technologies
ID Code:8247
Deposited By:juliette Drupt
Deposited On:30 sept. 2020 09:26
Dernière modification:30 sept. 2020 09:26

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