This paper presents basic characteristics of the problem of positioning errors propagation in collaborative multi robot environments. We propose two localization methods to achieve a cooperative positioning system using a collaborative autonomous robotic team for indoor surveillance applications. Based on case study simulation results, we were able to evaluate the error propagation process and to obtain the two-dimensional (2D) localization errors for the two proposed methods: Iterative Least Square (ILS) Localization and Backtracking Particle Filter (BPF) Localization.
['Andrei Stancovici', 'Mihai V. Micea', 'Vladimir Cretu']
Cooperative positioning system for indoor surveillance applications