Indoor Navigation of Quadrotors via Ultra-Wideband Wireless Technology

This work focuses on controlling the position and trajectory of a quadrotor indoors with high positioning accuracy. The movement of the quadrotor is tracked by an Ultra-WideBand (UWB) system which provides wireless message communication that enables communication with the quadrotor. In this feedback control system, the main challenge is that the system has limited communication bandwidth, which may cause packet losses and time delays, and the quadrotor is extremely sensitive to such effects. Our main objective is to develop a controller and jointly tune a positioning system to stabilize the system by trading between latency and reliability. The performance of our developed schemes are verified using a testbed platform.