ABSTRACT
This chapter focuses on the probabilistic approach and techniques to manage the extra complexity and communication costs inherent of this family of algorithms. It presents a variety of algorithms that can be used for probabilistic cooperative localization. The chapter aims to highlight techniques that can be used to decrease the complexity of cooperative localization as well as to improve the communication overhead of the algorithms and optimize the communication strategies of the nodes. It proposes a solution for cooperative localization that dramatically reduces the complexity of the position pdf by taking advantage of the geometry of the localization area. The chapter presents the algorithm to the mobile case and suggests a distributed message scheduling strategy that improves the communication overhead of the network. An often-unexplored issue in localization is how the coordinate system itself works. Localization occurs relative to some commonly accepted reference points.
