TY  - JOUR
T1  - UWB-Based Multi-Drone Collaboration System for Target Localization
AU  - Jo, TaeHyeon 
AU  - Kim, YeoGyeom 
AU  - Yun, Su-Hwan 
AU  - Moon, SungTae 
JO  - Journal of KIISE, JOK
PY  - 2026
DA  - 2026/1/14
DO  - 10.5626/JOK.2026.53.1.65
KW  - UWB
KW  - localization
KW  - collaboration system
KW  - multi-drone
AB  - 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.