I have a swarm robotic project. The localization system is done using ultrasonic and infrared transmitters/receivers. The accuracy is +-7 cm. I was able to do follow the leader algorithm. However, i was wondering why do i still have to use Kalman filter if the sensors raw data are good? what will it improve? isn't just will delay the coordinate being sent to the robots (the coordinates won't be updated instantly as it will take time to do the kalman filter math as each robot send its coordinates 4 times a second)