In this paper, we consider using angle of arrival information (bearing) for localization in robot networks. The essential property we require in this paper is that a node can infer heading information from its neighbors. We address the uniqueness of network localization solutions by the theory of globally rigid graphs. We show that while the parallel rigidity problem for formations with bearings is isomorphic to the distance case, the global rigidity of the formation is simpler (in fact identical to the simpler rigidity case) for a network with bearings, compared to formations with distances. We provide the conditions of localization for networks in which the neighbor relationship is not necessarily symmetric.

Anahtar Kelimeler:
## Multi-vehicle systems, multi-robot systems, multi-agent systems, sensor networks, robot networks, graph theory

In this paper, we consider using angle of arrival information (bearing) for localization in robot networks. The essential property we require in this paper is that a node can infer heading information from its neighbors. We address the uniqueness of network localization solutions by the theory of globally rigid graphs. We show that while the parallel rigidity problem for formations with bearings is isomorphic to the distance case, the global rigidity of the formation is simpler (in fact identical to the simpler rigidity case) for a network with bearings, compared to formations with distances. We provide the conditions of localization for networks in which the neighbor relationship is not necessarily symmetric.

Keywords:
## Multi-vehicle systems, multi-robot systems, multi-agent systems, sensor networks, robot networks, graph theory,

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**ISSN:**1300-0632**Yayın Aralığı:**Yılda 6 Sayı**Yayıncı:**TÜBİTAK

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