Maximum likelihood localization of a network of moving agents from ranges, bearings and velocity measurements

Filipa Valdeira, Cláudia Soares, João Gomes

Abstract: Highlights•Cooperative localization for mobile networks from range, bearing and velocity measurements.•Maximum Likelihood formulation followed by a convex relaxation maintains performance despite of initialization.•Distributed implementation makes the algorithm scalable for large networks.•Parameter estimation step avoids the need for a priori knowledge of noise terms.•The method does not rely on a dynamical model of the system.