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

Table 2

Average errors of the three methods at each step.

/cm	RSSI	Dead reckoning		Proposed method
	20.55	6.28	5.81	5.55	5.16
	20.77	6.08	5.57	5.37	6.04
	20.52	5.94	5.45	5.23	4.74
	20.76	5.94	5.47	5.29	3.00
Mean values	20.65	6.06	5.58	5.36	4.73