Article

AF-MCL: Indoor UAV Localization in Dynamic Environments Using Only Four Onboard Range Sensors

The authors propose augmented filtered Monte Carlo localization (AF-MCL), which achieves 2D indoor UAV localization using only four single-point range sensors and measured heading, rejects range measurements inconsistent with a known static map, and adaptively injects particles to handle localization divergence and kidnapping.

Part of the event: Indoor UAV Localization Using Four Ranging Sensors

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