@article{M64E2631E,
title = "UWB-Based Multi-Drone Collaboration System for Target Localization",
journal = "Journal of KIISE, JOK",
year = "2026",
issn = "2383-630X",
doi = "10.5626/JOK.2026.53.1.65",
author = "TaeHyeon Jo, YeoGyeom Kim, Su-Hwan Yun, SungTae Moon",
keywords = "UWB, localization, collaboration system, multi-drone",
abstract = "Drones are increasingly used in search and rescue operations across large areas. However, traditional methods encounter two main challenges: the inaccuracy of vision and GNSS sensors, and the reliance of Ultra-Wideband (UWB) technology on fixed anchors. To address these issues, this paper introduces a novel collaborative search system in which multiple drones, accurately localizing themselves with RTK-GPS, act as mobile UWB anchors. In this system, the drone swarm initially conducts a distributed search over the target area. When a UWB tag signal is detected, the swarm reorganizes into a formation optimized for ranging using a potential field algorithm, and then localizes the target's position with a particle filter algorithm. Implementation on a PX4-ROS2-based hardware platform, along with outdoor flight experiments, demonstrates the feasibility of achieving centimeter-level positioning accuracy in expansive, infrastructure-less environments. These findings confirm the practical effectiveness of our system and underscore its potential to revolutionize autonomous search operations."
}