Design of a distributed localization algorithm to process angle-of-arrival measurements

This paper presents ANIM, a novel algorithm that uses angle-of-arrival (or bearing) measurements for relative positioning of networked, collaborating robots. The algorithm targets shortcomings of existing sensors (e.g., vulnerability of GPS to jamming) by providing a cheap, low-power alternative that can exploit existing, readily available communication equipment. The method is decentralized and iterative, with subgroups of three robots alternately estimating (i) orientation of the plane containing the robots and (ii) the direction of each edge between robots. Simulations demonstrate that ANIM converges reliably and provides accuracy sufficient for practical applications involving coordinated flying robots.