Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems

Table 3

Comparison of mean global pose.

	True pose	Mean from Monte-Carlo simulation with 10000 samples	Mean from cubature-points based transformation
(m)	8	8.0127	8.0112
(m)	6	5.9410	5.9375
(rad)	0.3491	0.3240	0.3250