Establishment of common coordinate system by using migration of autonomous robot herd

It is desirable that the all autonomous mobile robots share a common coordinate system without the communication among them and without recognization of the landmarks or maps. If it is unnecessary to implement these abilities, the architecture of the robots becomes simplicity. Then, a new method is proposed which enables robots only with ability of dead reckoning localization and that of measure relative velocity to establish the common coordinate system. The effectiveness of the method is confirmed by simulations.