Figure 10
From: Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging
Absolute position RMSEs (blue lines) and relative position RMSEs (red lines) as functions of distance. The different blue lines correspond, in ascending order, to the increasing number of agents and are the results of 100 Monte Carlo runs. Clearly, the relative error is bounded by the inter-agent ranging while the absolute error grows slower the larger the number of agents. The final position RMSEs as a function of the number of agents are shown in Figure11.