Analysis of Positioning Uncertainty in Cooperative Localization and Target Tracking (CLATT) Faraz M. Mirzaei , Anastasios I. Mourikis and Stergios I. Roumeliotis {faraz|mourikis|stergios}@cs.umn.edu Dept. of Computer Science & Engineering University of Minnesota Minneapolis, MN 55455 Multiple Autonomous Robotic Systems Laboratory Technical Report Number -2005-004 August 2005 Revision:153, September 17, 2007 Dept. of Computer Science & Engineering University of Minnesota 4-192 EE/CS Building 200 Union St. S.E. Minneapolis, MN 55455 Tel: (612) 625-2217 Fax: (612) 625-0572 URL: http://www.cs.umn.edu/˜faraz