Abstract
The goal of this paper is to develop a distributed localization of mobile robots in an agricultural field. Ouragricultural robots include a GPS sensor, which does not give us an enough accuracy of position. However, the robotscan communicate each other for information sharing. Therefore, we can estimate a distance between robots by thestrength of radio signal in communication. For the scalability of a robotic system, we develop a localization methodin a distributed manner such as each of the robots estimates positions of itself and neighbors, and shares and updatesthem with other robots with Kalman fiter. We call it distributed Kalman filter by mutual observation. The developeddistributed localization method is verified with numerical experiments.
