Precise Localization and Formation Control of Swarm Robots via Wireless Sensor Networks

Table 1

Total errors of the three methods.

/cm	RSSI	Dead reckoning		Proposed method
	1334.90	408.42	377.97	360.75	335.28
	1350.22	395.39	362.07	349.26	392.92
	1333.80	385.98	354.06	339.87	307.89
	1349.20	386.36	355.66	344.04	194.80
Mean values	1342.03	394.04	362.44	348.48	307.72