Cooperative Localization in Multi-Robot Systems: Addressing Complex Communication Constraints

Cooperative localization technology offers substantial advantages in the applications of multi-robot systems because its strong robustness and scalability. This paper presents a novel cooperative localization algorithm for multi-robot systems, which is based on wireless communication and received signal strength indication (RSSI) ranging technology. The algorithm is not only applicable to arbitrary n-robot systems but also features an improved scheme specifically designed to address issues such as unsynchronized clock, communication packet loss, and asynchronous communication. Finally, the effectiveness of the proposed collaborative localization algorithm is validated through experiments.