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In this paper, we propose a factor-graph-based cooperative positioningalgorithm that uses RSS radio measurements and accounts for the directivity ofthe antennas. This is achieved by modeling the directivity with a parametricantenna pattern and jointly estimating position and orientation of the agents.We propose two different approaches whereas the first one uses a continuousrepresentation of the orientation state and the second one a discreterepresentation. We validate our proposed methods with simulations andmeasurements in a static sensor network with more than 900 agents in an indoorenvironment and show that the positioning accuracy can be improvedsignificantly by considering the influence of orientations.

RSS-based Cooperative Localization and Orientation Estimation Exploiting Directive Antenna Patterns