It’s a good call for iRobot to skip GPS. You can get 1-2cm precision. But not always and it can be hard to tell when you are off. Plus the equipment is still not inexpensive in a consumer product context.

I think if I were to do it over (my lawnmower startup blew up) I’d do something like this and just drive the beacon cost down as much as possible. I had looked at using the DW1000 but the rest of the team wanted something beaconless for commercial applications.