Distributed Localization for Multi-Robot Systems in Presence of Unlocalizable Robots

This paper considers the distributed localization problem for multi-robot systems in the plane with bearing measurements. A necessary and sufficient condition for individual robot to check triangular localizability is provided in terms of a geometric condition. Then a distributed orthogonal algorithm is presented for verifying whether a robot is triangularly localizable. In addition, this paper develops a distributed conjugate residual algorithm, which can solve the localization problem in a more efficient manner. Numerical simulations demonstrate the effectiveness of the approach.