MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision

Mohammed Ayman Shalaby, Nicholas Dahdah, Syed Shabbir Ahmed, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes, Department of Mechanical Engineering, McGill University, Department of Electrical Engineering, Polytechnique Montreal

The International Journal of Robotics Research

Published online on January 09, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
This paper introduces MILUV, a Multi-UAV Indoor Localization dataset with UWB and Vision measurements. This dataset comprises 217 minutes of flight time over 36 experiments using three quadcopters, collecting ultra-wideband (UWB) ranging data such as the ...