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| A Survey on Distributed Cooperative Localization for Multi-agent Systems |
| YANG Guanghong, SHI Chongxiao
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| a. College of Information Science and Engineering; b. State Key Laboratory of Synthetical Automation of Process Industries, Northeastern University, Shenyang 110819, China |
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Abstract Distributed cooperative localization is a key process in many cooperative tasks for multi-agent systems. Distributed cooperative localization aims to enable each agent to determine their own locations by using the available locations of anchors, the relative measurements to their neighbors, and the distributed network communication. This paper summarizes the advances in the distributed cooperative localization for multi-agent systems. First, according to the types of relative measurements, the distributed cooperative localization methods are classified into three types, i.e., distance-based, bearing-based, and mixed-measurement-based distributed cooperative localization methods. Then, by characterizing the constraint relationship between the measurement and the agents’ locations, the design schemes of the above distributed cooperative localization methods are elaborated in detail, and the advantages and disadvantages of the methods are compared. Moreover, this paper introduces the research status of reliable distributed cooperative localization methods for multi-agent systems with malicious measurements. Finally, the ongoing challenges in distributed cooperative localization are anticipated, and the potential directions for resolution are proposed.
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Received: 18 April 2025
Published: 03 June 2025
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