Cooperative location model under the Nearest Neighbor criterion

This paper presents current work on decentralized data fusion applied to the relative localization among multiple platform, which is one of the key formation control techniques for mobile robots or unmanned aerial vehicles. A novel Nearest Neighbor-based scheme is proposed to estimate the navigational states own from the range measurement to other platform. The model to calculate the pseudomeasurement and the concomitant error covariance matrix is deduced for the planar circumstance.