Publications by Amanda Stella Markowska Prorok

Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration

Alcherio Martinoli, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is a recent technology that performs competitively with many indoor localization methods currently available. Despite its desirable traits, such as potential high accuracy and high material penetrability, the resolution of ...

2014

Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems

Amanda Stella Markowska Prorok

Location is a piece of information that empowers almost any type of application. In contrast to the outdoors, where global navigation satellite systems provide geo-spatial positioning, there are still millions of square meters of indoor space that are unac ...

EPFL2013

Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration

Alcherio Martinoli, Amanda Stella Markowska Prorok

2013

Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization

Alcherio Martinoli, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) ...

Ieee2012

Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Alexander Bahr

Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution ...

Ieee2012

A Framework for NLOS Ultra-Wideband Ranging in Collaborative Mobile Robot Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Phillip Tomé

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of- sight (NLOS) positioning scenarios remain a challenge and can potentially cause significant localization errors. In this work, we leverage the col ...

2011

An Adaptive Field Estimation Algorithm for Sensor Networks in Dynamic Environments

Alcherio Martinoli, Amanda Stella Markowska Prorok, William Christopher Evans

The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. This workshop paper addresses the problem of optimizing this trade-off in self-configured distributed sensor networks. In our cas ...

2011

A Reciprocal Sampling Algorithm for Lightweight Distributed Multi-Robot Localization

Alcherio Martinoli, Amanda Stella Markowska Prorok

This work is situated in the context of collaboratively solving the localization problem for unknown initial conditions. We address this problem with a novel, fully decentralized, real-time particle filter algorithm, designed to accommodate realistic robot ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Accommodation of NLOS for Ultra-Wideband TDOA Localization in Single- and Multi-Robot Systems

Amanda Stella Markowska Prorok, Phillip Tomé

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-ofsight (NLOS) positioning scenarios remain a challenge and can potentially cause significant localization errors. In this work, we leverage the utili ...

2011

Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Nicolaus Correll

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An ag ...

2011

Two-Phase Online Calibration for Infrared-based Inter-Robot Positioning Modules

Alcherio Martinoli, Amanda Stella Markowska Prorok, Sven Adrian Gowal

Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other.While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Towards Optimally Efficient Field Estimation with Threshold-Based Pruning in Real Robotic Sensor Networks

Alcherio Martinoli, Amanda Stella Markowska Prorok, Christopher Cianci

The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. The work in this paper addresses the problem of optimizing this trade-off in a self-configured distributed robotic sensor network ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-study on Ultra-wideband Positioning

Alcherio Martinoli, John Farserotu, Amanda Stella Markowska Prorok, Adrian Arfire, Alexander Bahr

Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor location-based applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps ...

2010

Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp

Alcherio Martinoli, Amanda Stella Markowska Prorok, Christopher Cianci

In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified to be of importance in a swarm-user in ...

IEEE Press2008