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Recently, multi-robot systems are emerging in various industries. The multi-robot systems have several advantages in comparison with a single-robot system. The task of single-robot system is limited, because a bigger robot is required to perform more multiple functions. However, multi-robot systems can distribute the functions to each robot. The localization problem is essential for realization and it becomes more important in the multi-robot system. The multi-robot system needs to work maintaining a formation. In order to accomplish the given mission in the demanded formation, the localization is important. For multi-robot localization, we use the relative position to find robots' position based on odometry sensor, and the iterative Kalman filter algorithm is utilized to estimate the accurate position.
Lee et al. (Wed,) studied this question.