Abstract
In this paper, a generalized EKF-employed swarm robot localization system with RSSI-based measurement is developed, and the operating limit of the system is analyzed numerically. Generalization of the swarm robot localization system is performed by parameterizing various aspects of the system and environment, such as noise of sensors, and layout of robots and positional features in the environment (landmarks). With two sets of experiments, small-scale and large-scale, we obtained the fine granularity of statistics about position estimation error per parameter combinations of the system and environment. In conclusion, we developed the system, and the boundary of the operating limit in terms of less than 10cm was explicated.
