Performance relationship between distributed and centralised cooperative localisations

Cooperative localisation can be classified into distributed and centralised algorithms. However, thorough theoretical analysis on the discrepancy and correlation of their performances has not yet been given by existing researches. Presented are different Cramér-Rao lower bounds for these two kinds of algorithms and the performance relationship is investigated through their own lower bounds. Furthermore, it is theoretically proved that after infinite iterations, distributed and centralised algorithms have the identical lower bound.