ABSTRACT
This chapter provides a brief introduction to the cooperative localization problem, and some of the widely used techniques were discussed along with the mathematical analysis for convergence. The problem of cooperative localization is used to facilitate navigation in global positioning system-denied environments using the vehicle's motion information from its internal sensors and the information about its surroundings from its external sensors. Several different algorithms with various modifications have been employed to approach the problem of cooperative localization in both the centralized and distributed manner. Since maintaining system observability is crucial to ensuring filter consistency and in turn reliable estimates, quite a lot of attention has been devoted by several authors to develop controllers that can increase the information available to the system or maintain paths that will improve system observability. Cooperative localization has been employed by authors to solve complex problems such as landing Unmanned aerial vehicle on moving platforms such as cars or ships.
