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This paper considers the problem of cooperative localization of an heterogeneous group of road vehicles. Each vehicle is equipped with proprioceptive and exteroceptive sensors enabling it to localize itself in its environment and also to identify and localize the other members of the group. Localization information can be exchanged between the vehicles through a wireless communication device. Every member of the group maintains an estimation of the state of its environment and transmits it to its neighbors. The global state of the environment is obtained by fusing the environment states of the vehicles. This fusion is based on an Extended Kalman Filter where the group is represented by a single system which describes the state of every member The proposed approach take into account sensor constraints as data unavailability and delays.

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