Exploring heterogeneity for cooperative localization in Swarm Robotics

Cooperative localization allows groups of robots to improve their overall localization by sharing position estimates within the team. In Swarm Robotics a large number of very simple agents is used to perform different types of tasks, however, this simplicity may have a direct impact on the estimated localization. In this work, we consider the use of a single robot (leader) with improved localization capability (e.g. GPS) which will be used to enhance the position estimates of the rest of the group. By using a potential function, we are able to place the leader in the region (near the center) that best benefits its position broadcasting and also to execute a coordinated and continuous movement of the entire group by controlling only this unity. Numerous trials in a simulated environment were executed, providing statistical examination of the final results.