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

Noise parameters for velocities were extracted from [7].