Distributed localization systems and methods and self-localizing apparatus

A system for apparatus localization, comprising:

• three ultra wideband (UWB) transmitters operable to emit UWB signals, wherein one of the three UWB transmitters comprises a first sensor operable to provide first data representative of a global property;
• and
• an apparatus comprising:
• an UWB receiver operable to receive the UWB signals;
• a second sensor physically operable to provide second data representative of the global property;
• and
• central processing electronics operable to compute a location of the apparatus relative to the three UWB transceivers based on the received UWB signals, the first data, and the second data.

A mobile robot, comprising:

• an antenna;
• analog reception electronics operationally coupled to the antenna;
• a clock;
• digital reception electronics operationally coupled to the analog reception electronics and to the clock, wherein the digital reception electronics are operable to time stamp an UWB signal received by the antenna with reference to the clock;
• and
• an actuator operable to affect a movement of the mobile robot based on:
• at least one time stamped UWB signal;
• and
• a reference signal.