Table 2.

Comparison with the existing literature.

Literature	Date	Robot Swarm Application	Multiple Localization Mechanism	Evaluation Framework for Robot Swarms	Existing Challenges	Solution
Wu et al. [16]	2019	No	Yes	No	No	No
Tahir et al. [26]	2019	Yes	No	Yes	No	No
Zafari et al. [12]	2019	No	Yes	No	Yes	Yes
Shule et al. [22]	2020	Yes	No	No	No	No
Coppola et al. [25]	2020	Yes	No	Yes	Yes	Yes
Kunhoth et al. [27]	2020	No	Yes	No	No	No
Couturier and Akhloufi [23]	2021	No	No	No	Yes	Yes
Motroni et al. [24]	2021	No	No	No	Yes	No
Yang and Yang [29]	2021	No	Yes	No	Yes	Yes
Yuan et al. [28]	2021	No	Yes	No	Yes	Yes
Our work	2022	Yes	Yes	Yes	Yes	Yes