Ultrasonic Localization of Multiple Robots

In this work, we are focused on mathematic entity of localization by trilateration. Mathematical equations are usable for localization of source of ultrasonic waves. These can be measured in plane or 3D space by microphone array. We solve step-by-step localization by two, three and four sensors. Work also contains parts about localization without microphone array. For these measurements are used only distances between robots. We discuss about usability of ultrasonic, its advantages and necessity of temperature and humidity compensation.