ABSTRACT
However, virtually all existing work addresses localization of a single robot only. The problem of cooperative multirobot localization remains virtually unexplored. At first glance, one could solve the problem of lo calizing N robots by localizing each robot independently, which is a valid approach that might yield reasonable results in many environments. How ever, if robots can detect each other, there is the opportunity to do better. When a robot determines the location of another robot relative to its own, both robots can refine their internal beliefs based on the other robot’s es timate, hence improve their localization accuracy. The ability to exchange
information during localization is particularly attractive in the context of global localization, where each sight of another robot can reduce the un certainty in the estimated location dramatically.
