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

Table 3

Comparison of the total errors of DR and the proposed method before and after formation correction.

/cm	1	2	3	4	5	6	7	Mean values
DR	408.42	381.79	395.39	385.98	386.36	397.77	397.97	393.38
	377.97	351.67	362.07	354.06	355.66	365.00	369.08	362.22
PM	360.75	339.54	349.26	339.88	344.04	350.76	350.07	347.76
	335.28	310.53	392.92	307.89	194.80	362.34	265.90	309.95