The dynamically evolving coordination architecture was specially designed according to the relative positions between robots

on the basis of which an active cooperative mechanism using decision theory was proposed

so that the robots were able to select their action actively during the localization process and get more useful information to improve their localization speed and precision.The co-evolution based adaptive particle filter was used to make the robots track the multi-hypothesis of their own positions and their partners' positions stably

which was of great importance for making proper decision in active localization.Experiments were carried out to prove the efficiency and stability of the proposed method.