@inproceedings{d72b53ec90814b039b33e86d25456836,
title = "Ruling uncertainties in range-only robot localisation",
abstract = "We consider a mobile robot localising itself through a set of UWB wireless anchors. We show how the use of an appropriate localisation algorithm allows for an analytical estimate of the localisation uncertainty. This information is used to build a potential-based motion planning algorithm that drives the robot along trajectories, while achieving a good tradeoff between moving toward the goal and keeping localisation uncertainty reasonably low.",
keywords = "localisation, range-only measurements, uncertainty analysis, uncertainty control",
author = "Farhad Shamsfakhr and Luigi Palopoli and David Macii and Daniele Fontanelli",
year = "2021",
month = jun,
day = "28",
doi = "10.1109/I2MTC50364.2021.9459813",
language = "English",
isbn = "9781728195407",
series = "IEEE Instrumentation and Measurement Technology Conference",
publisher = "Institute of Electrical and Electronics Engineers",
pages = "1--6",
booktitle = "2021 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)",
address = "United States",
note = "2021 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2021 ; Conference date: 17-05-2021 Through 20-05-2021",
}