A game-theory based UKF algorithm for multi-robots cooperative localization*

Abstract

The precise autonomous localization of the robot is one of the fundamental challenges in multi-robots systems. For this problem, we propose a UKF algorithm, which incorporates the static game theory for the cooperative localization. The static game theory can effectively eliminate the information conflicts among robots and the UKF algorithm has better localization accuracy than the traditional EKF algorithms. Finally, a simulation example shows that the proposed algorithm has better performance than the traditional EKF algorithm.