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Localization plays a critical role in the field of distributed swarmrobotics. Previous work has highlighted the potential of relative localizationfor position tracking in multi-robot systems. Ultra-wideband (UWB) technologyprovides a good estimation of the relative position between robots but suffersfrom some limitations. This paper proposes improving the relative localizationfunctionality developed in our previous work, which is based on UWB technology.Our new approach merges UWB telemetry and kinematic model into an extendedKalman filter to properly track the relative position of robots. We performed asimulation and validated the improvements in relative distance and angleaccuracy for the proposed approach. An additional analysis was conducted toobserve the increase in performance when the robots share their control inputs.

Relative ultra-wideband based localization of multi-robot systems with kinematic extended Kalman filter