English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Relative localization is a crucial functional block of any robotic swarm. Weaddress it in a fleet of nano-drones characterized by a 10 cm-scale formfactor, which makes them highly versatile but also strictly limited in theironboard power envelope. State-of-the-Art solutions leverage Ultra-WideBand(UWB) technology, allowing distance range measurements between peer nano-dronesand a stationary infrastructure of multiple UWB anchors. Therefore, we proposean UWB-based infrastructure-free nano-drones swarm, where part of the fleetacts as dynamic anchors, i.e., anchor-drones (ADs), capable of automaticdeployment and landing. By varying the Ads' position constraint, we developthree alternative solutions with different trade-offs between flexibility andlocalization accuracy. In-field results, with four flying mission-drones (MDs),show a localization root mean square error (RMSE) spanning from 15.3 cm to 27.8cm, at most. Scaling the number of MDs from 4 to 8, the RMSE marginallyincreases, i.e., less than 10 cm at most. The power consumption of the MDs' UWBmodule amounts to 342 mW. Ultimately, compared to a fixed-infrastructurecommercial solution, our infrastructure-free system can be deployed anywhereand rapidly by taking 5.7 s to self-localize 4 ADs with a localization RMSE ofup to 12.3% in the most challenging case with 8 MDs.

Land & Localize: An Infrastructure-free and Scalable Nano-Drones Swarm with UWB-based Localization