A Dynamic Cooperative Scheme with Multiple Antennas for Indoor Mobile Robot Localization

Table 1

Decision-making logic.

Combination mode	𝐾
Mode 1: “SC”	4<𝐾≤round(𝑁/4), 𝑁>20
Mode 2: “SWC”	4<𝐾≤round(𝑁/2), 9≤𝑁≤20
Mode 3: “MRC”	2<𝐾≤4, 𝑁<9
Mode 4: “EGC”	𝐾≤2, 𝑁<9