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Ultra-wideband (UWB) ranging has emerged as a key radio technology for robotpositioning and relative localization in multi-robot systems. Multiple worksare now advancing towards more scalable systems, but challenges still remain.This paper proposes a novel approach to relative localization in multi-robotsystems where the roles of the UWB nodes are dynamically allocated betweenactive nodes (using time-of-flight for ranging estimation to other activenodes) and passive nodes (using time-difference-of-arrival for estimating rangedifferences with respect to pairs of active nodes). We adaptively update UWBroles based on the location of the robots with respect to the convex envelopedefined by active nodes, and introducing constraints in the form oflocalization frequency and accuracy requirements. We demonstrate theapplicability of the proposed approach and show that the localization errorsremain comparable to fixed-role systems. Then, we show how the navigation of anautonomous drone is affected by the changes in the localization system,obtaining significantly better trajectory tracking accuracy than when relyingin passive localization only. Our results pave the way for UWB-basedlocalization in large-scale multi-robot deployments, for either relativepositioning or for applications in GNSS-denied environments.

Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation