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arXiv · 2501.01213

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
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Abstract

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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Raul Tapia, Ivan Gutierrez Rodriguez, Javier Luna-Santamaria, Jose Ramiro Martinez-de Dios, Anibal Ollero. 2025-01-02. Range-Only Localization System for Small-Scale Flapping-Wing Robots. https://arxiv.org/abs/2501.01213

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