66 citations · 184 across the 19 of their papers we have counts for
5 papers · 1 filter
Reducing Two-Way Ranging Variance by Signal-Timing Optimization
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Time-of-flight-based ranging among transceivers with different clocks requires protocols that accommodate varying rates of the clocks. Double-sided two-way ranging (DS-TWR) is wide…
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. Howe…
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes +1
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-age…
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussie +2
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this pape…
Ultra-Wideband Teach and Repeat
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy…