Self-localization of mobile agents in the plane

This paper considers initially the problem of localizing three agents moving in the plane when the inter-agent distances are known, and in addition, the angle subtended at each agent by lines drawn from two landmarks at known positions is also known. In addition, it is shown that there are in general a finite number greater than one of possible sets of positions for the three agents. Later, generalization of the result for more than three agents is presented.