Research Article
Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems
Table 2
Sensor characteristics.
| Sensor type | Measure | Update rate | Noise |
| Odometry | Linear velocity | 50 Hz | | Angular velocity | 50 Hz | rads−1 |
| Relative pose | Relative -position | 10 Hz | 0.1 m | Relative -position | 10 Hz | 0.1 m | Relative orientation | 10 Hz | 1 deg |
| DGPS | Global -position | 10 Hz | 0.1 m | Global -position | 10 Hz | 0.1 m |
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Noise parameters for velocities were extracted from [7].
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