H∞ Filter Based Cooperative Localization for Multi-Robot System

This paper addresses the problem of multi-robot cooperative localization in non-Gaussian noise environments. Traditionally, the Kalman filter (KF) based algorithms are used as solutions to cooperative localization (CL) problems. However, the KF algorithms cannot obtain accurate state estimation when noises are non-Gaussian. To deal with this issue, an $H_{\infty}$ filter based cooperative localization algorithm is proposed. Unlike the KF algorithm, the $H_{\infty}$ filter algorithm does not require the assumption of Gaussian noise, thus achieving better localization accuracy for non-Gaussian scenarios. The effectiveness of the proposed algorithm is demonstrated through simulation examples.