A Test Platform for UWB-Based Localization of Dynamic Multi-Agent Systems

Despite recent developments in Ultra-wideband (UWB)-based algorithms, notably in relative localization, existing multi-UWB platforms can only test these algorithms on small or static networks. This work proposes a multi-UWB platform using a novel protocol that improves upon prior works and accommodates large mobile networks by enabling: rapid local network reconfiguration, increased ranging rate among multiple UWB nodes, and bi-directional communication links, which removes precise clock synchronization requirements between UWBs. The proposed UWB platform performance is evaluated using Decawave EVB1000 boards for node addition and removal, and meeting of three networks. These experiments demonstrate increased local reconfiguration rate over prior work and maximization of ranging rate between node pairs. In addition, the supporting firmware and Robot Operating System (ROS) packages for the platform are made publicly available.