Robust range-only SLAM for aerial vehicles

This paper presents a robust method to map the position of a set of radio range sensors while at the same time an aerial vehicle is being localized with respect that map employing only range measurements even in the presence of noisy measurements. The method makes use of a pre-filtering algorithm to detect and remove measurements outliers and extends the original approach presented in [1] to model and estimate the measurement model of each radio sensor in order to correct the computed range of each node. The method is validated in simulation involving an aerial vehicle and radio-based range sensors.