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Measuring relative bearing angle in local coordinate frame based on received signal strength

A distance based formation control method requires agents which can observe positions of neighborhoods in local frame. Existing similar system is GPS, but this has limit that more than four satellite must be connected to sensor and uses global coordinates. Fortunately, measuring distance between two agents is quite famous. This paper provides method based on Received Signal Strength Indication (RSSI) for measuring relative bearing to neighborhood agent in sensing range by installing multiple antennas to each agents and using the RSSI map. Three factors which help making more sensitive RSSI map are also mentioned. The test result shows that mapping the radio environment based on RSSI and measuring the relative bearing using map are possible.