无人集群系统协同定位研究进展与展望

Cooperative localization technology of swarm systems has received widespread attention due to its ability to significantly enhance the autonomy and adaptability of intelligent robot swarms in GPS denial environments.This article systematically summarizes the basic issues in the field of cooperative localization for swarm systems, including the locatability of the swarm system, distributed cooperative localization algorithms, localization performance characterization and optimization, and the application of cooperative localization in intelligent robot systems.Specifically, the advantages and disadvantages of different swarm cooperative localization methods are analyzed.The cooperative localization enhancement method based on sensor network deployment and agent trajectory optimization is discussed.The important role of swarm cooperative localization methods in specific tasks such as distributed shape control, cooperative SLAM and exploration, and implicit collaboration is pointed out.Some open issues worthy of further in-depth research in the future are elucidated.