Ultra-WideBand (UWB) is a well-known technology in the field of position localization since positioning with an error lower than 10 cm can usually be achieved. UWB is considered a valuable technology for service robotics since it allows the precise tracking of moving objects, e.g. UGVs and UAVs, in GPS denied zones and indoor environments. However, the setup for a UWB localization system is time-consuming and inefficient as each anchor’s position must be accurately measured to obtain good performance from the system. This process may be tricky or impossible in harsh environments. Also, it is prone to artificial errors that may compromise the performance of the whole system.