Angle-based reliable cooperative localisation for multi-agent networks in the presence of malicious measurements

This paper addresses the localisation problem of multi-agent systems based on angular information under malicious measurements, which is more general yet more challenging than localisation in ideal environments. Based on the theory of triangular angle rigidity, we develop an algorithm with a preliminary error correction mechanism that can robustly identify and eliminate erroneous data in insecure environments. Subsequently, we design a combinatorial replacement function with coverage constraints. By integrating error correction and data replacement, we propose a distributed localisation estimation algorithm based on triangular angle rigidity. An advantage of the proposed improved angle-only localisation method over traditional angle-only localisation approaches is its capability to perform error correction and autonomous topology replacement in the presence of malicious measurements, thereby ensuring accurate localisation. Several examples are provided to illustrate the effectiveness of our results.