In environment where GPS signals cannot be continuously received during swarm flights, the range of operations for flights will be limited. This paper investigates methods of using a moving Ultra Wide Band (UWB) positioning network for heterogeneous robot swarming in GPS-denied area. For the demonstration of the proposed concept, two different type of UWB anchors will be installed in Unmanned Ground Vehicles (UGV) to create an ad-hoc moving UWB network and range UGVs distance, and several Unmanned Aerial Vehicles (UAV) will localize their position using the UWB network and fly following the given paths. In this circumstance, we also compare the errors of the different UWB frequency distractions.

Keywords: UWB, heterogeneous, swarming, frequency distractions