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arxiv 2501.01213 v1 pith:OHWSUPQE submitted 2025-01-02 cs.RO

Range-Only Localization System for Small-Scale Flapping-Wing Robots

Raul Tapia , Ivan Gutierrez Rodriguez , Javier Luna-Santamaria , Jose Ramiro Martinez-de Dios , Anibal Ollero This is my paper
classification cs.RO
keywords flapping-winglocalizationrobotssmall-scalesystemultra-widebandaccurateaerial
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system particularly designed for small-scale flapping-wing robots. The solution relies on custom 5 grams ultra-wideband sensors and provides robust, very efficient (in terms of both computation and energy consumption), and accurate (mean error of 0.28 meters) 3D position estimation. We validate our system using a Flapper Nimble+ flapping-wing robot.

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