Prototype of Cooperative Mobile Robots with Trilateration Localization Method

In the modern robotic community, many mobile robots are expected to cooperate with each other on the same task, it is often necessary for each robot in the swarm to know locations of its neighboring robots. The ability robots to quickly and accurately localize their neighbor are extremely important for cooperative mobile robot. This paper describes a trilateration method used for localization and deploy many simpler, cheaper and redundant robots to discover whereabouts of their neighbors. Our trilateration system uses acoustic and RF sensing which allows it to accurately detect other robots at a distance of up to five feet