The first challenge for ubiquitous robots to provide various services is to let all robots aware of the location.
Knowing the location itself is the essential basis for robots to provide even more intelligent service. In addition, the localization should be achieved in autonomous and distributive nature, which signifies the unexplored potential of its application. However, localization may not be easily achievable, especially when the aid of infrastructure is absent.
One amenable solution is to leverage the cooperative nature of robot teams. Equipped with sensor, robots are able to localize themselves by observing and communicating with other robots, which is independent of the pre-established infrastructure.
Specifically, there are two main challenges in this project: First, an efficient distributive state estimation algorithm is indispensable. Furthermore, the engineering constraints on communication and control of distributive robots should also be considered.