uFindMe: A UWB-Based Robotic Package Finder

This paper explores the problem of seeking a wireless ultra-wideband radio-enabled physical package in a cluttered environment using a mobile robot. We enable a robot to navigate (using LiDAR and wheel odometry measurements) to a physical package by continuously calculating the distance from the package (using UWB-based wireless ranging). We assume no explicit support from the surrounding environment where the package is present and, therefore, intend to perform this package-seeking using sensors on the robot and a UWB-wireless radio installed inside the package. We expect such a system to be used for high-value packages or packages with perishable contents. The technical innovations in this paper stem from the robot utilizing its own movements and continuous distance measurements with the UWB inside the package to localize the package and then seek out an approach path for autonomous navigation using LiDAR. We demonstrate our end-to-end robotic system using real-world experiments with varying levels of clutter and navigational complexity.