Abstract
In this paper, a new localization approach for a team of robots which utilizes emergent properties of their formation behavior is proposed. Formation behavior, for example, flocking, rendezvous and so on, regulates the robots to achieve its corresponding task. At times, some of this synchronized behavior generate spin-off effects that include geometric patterns on them. Therefore, it seems to be a reasonable question whether it is possible to utilize the pattern. Firstly, the authors discuss Takayama's control strategy which is proposed for target enclosure formation, which is a typical formation for Robocup. Then they propose a simple and useful expansion of Monte Carlo localization to use the emergent pattern of this formation. The proposed algorithms are confirmed by a series of realistic computer simulations.
