@article{discovery10091457,
           title = {A Low Cost Ultrasound-based Localisation System for Ground Robotics},
          number = {11},
          volume = {238},
            year = {2019},
          editor = {S Yurish},
           pages = {21--30},
         journal = {Sensors \& Transducers},
           month = {November},
         address = {Spain},
       publisher = {IFSA Publishing},
            note = {This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article's Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/},
        abstract = {This paper presents a low-cost localisation system based on ultrasonic sensing and time of flight
measurements. A compact ultrasound emitter has been designed to generate an omnidirectional train of ultrasound
pulses which are then picked up by several fixed receivers measuring the time difference of arrival. A least squares
approach is used to analytically obtain a first estimate of the emitter position, which is then refined through
steepest descent optimisation. All processing is done via a standard Arduino platform, proving the low
computational demands of the method. Localisation results are validated against a state-of-the-art Optitrack
motion capture system. It is shown that the system can cover a 4.3{$\times$}3.1 m arena with a mean error localisation
error of 1.57 cm and an average standard deviation of 1.39 cm throughout the arena. The effectiveness of the
proposed localization system is demonstrated by integrating it with a mobile ground robot to enable waypointbased path following.},
          author = {Burns, A and Paoletti, P and Fichera, S},
             url = {http://www.sensorsportal.com/HTML/DIGEST/P\%5f3130.htm},
        keywords = {Localisation, Ultrasound, Time difference of arrival, Positioning, Ground robots.}
}