Abstract
Self-localization of mobile robots for swarm intelligence is one of the most important research topics. Particularly, "Cooperative Positioning System: CPS" is valid method for a self-localization system using a number of mobile robots. However, the previous researches have been not evaluated in an environment with obstacles. Therefore, we develop a uniquely landmark for mobile robots. And, we propose the method of self-localization which can distinguish between landmark and obstacle in environment.
