The invention discloses a multi-
robot cooperative positioning and elastic formation control method based on a distributed Kalman consistency filtering (DKCF)
algorithm. Aiming at the problems of insufficient sensor
noise suppression, poor robustness under
network attack and the like in the prior art, a dynamic model containing
process noise and a
sensor model of measurement
noise are constructed, and a consistency state
estimation method of weighted fusion
observation data is provided. According to the method, multi-
modal redundant sensor information is fused, and an improved DKCF is combined, so that cooperative state
estimation between robots is realized, and the positioning precision in a
noise environment is effectively improved; an elastic positioning framework under
denial of service attack is established, and the robustness to
network attack is enhanced while the formation precision is ensured through the joint design of distributed cooperative position
estimation and a formation controller. According to the method, high positioning precision and a stable formation form can still be kept in the face of network attacks of denial of service, and the safety cooperation performance of a multi-
robot system in a complex scene is remarkably improved.