The HiBall Tracker: high-performance wide-area tracking for virtual and augmented environments
Proceedings of the ACM symposium on Virtual reality software and technology
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Poster abstract: anchor-free distributed localization in sensor networks
Proceedings of the 1st international conference on Embedded networked sensor systems
Localization for mobile sensor networks
Proceedings of the 10th annual international conference on Mobile computing and networking
The flooding time synchronization protocol
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
A robustness analysis of multi-hop ranging-based localization approximations
Proceedings of the 5th international conference on Information processing in sensor networks
Distributed localization in static and mobile sensor networks
WIMOB '06 Proceedings of the 2006 IEEE International Conference on Wireless and Mobile Computing, Networking and Communications
On the error characteristics of multihop node localization in ad-hoc sensor networks
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Mobile anchor-free localization for wireless sensor networks
DCOSS'07 Proceedings of the 3rd IEEE international conference on Distributed computing in sensor systems
Range-Based localization in mobile sensor networks
EWSN'06 Proceedings of the Third European conference on Wireless Sensor Networks
Ranging in a dense multipath environment using an UWB radio link
IEEE Journal on Selected Areas in Communications
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Managing cohort movement of mobile sensors via GPS-free and compass-free node localization
Journal of Parallel and Distributed Computing
Sensor network localization using sensor perturbation
ACM Transactions on Sensor Networks (TOSN)
GPS-free directional localization via dual wireless radios
Computer Communications
Reducing the number of flips in trilateration with noisy range measurements
Proceedings of the 12th International ACM Workshop on Data Engineering for Wireless and Mobile Acess
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The moving-baseline localization (MBL) problem arises when a group of nodes moves through an environment in which no external coordinate reference is available. When group members cannot see or hear one another directly, each node must employ local sensing and inter-device communication to infer the spatial relationship and motion of all other nodes with respect to itself. We consider a setting in which nodes move with piecewise-linear velocities in the plane, and any node can exchange noisy range estimates with certain sufficiently nearby nodes. We develop a distributed solution to the MBL problem in the plane, in which each node performs robust hyperbola fitting, trilateration with velocity constraints, and subgraph alignment to arrive at a globally consistent view of the network expressed in its own "rest frame." Changes in any node's motion cause deviations between observed and predicted ranges at nearby nodes, triggering revision of the trajectory estimates computed by all nodes.We implement and analyze our algorithm in a simulation informed by the characteristics of a commercially available UWB (ultra-wideband) radio, and show that recovering node trajectories (rather than just locations) requires substantially less computation at each node. Finally, we quantify the minimum ranging rate and local network density required for the method's successful operation.