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

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/o4ftrwu0wgmcnfck9ri1ayrwi
- Original: https://arxiv.org/abs/2610.32645

## Summary

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.