  Multipath-based simultaneous localization and mapping (MP-SLAM) is a
promising approach in wireless networks for obtaining position information of
transmitters and receivers as well as information on the propagation
environment. MP-SLAM models specular reflections of radio frequency (RF)
signals at flat surfaces as virtual anchors (VAs), the mirror images of base
stations (BSs). Conventional methods for MP-SLAM consider a single mobile
terminal (MT) which has to be localized. The availability of additional MTs
paves the way for utilizing additional information in the scenario.
Specifically enabling MTs to exchange information allows for data fusion over
different observations of VAs made by different MTs. Furthermore, cooperative
localization becomes possible in addition to multipathbased localization.
Utilizing this additional information enables more robust mapping and higher
localization accuracy.
