On the representation and estimation of spatial uncertainly
International Journal of Robotics Research
Location-aided routing (LAR) in mobile ad hoc networks
MobiCom '98 Proceedings of the 4th annual ACM/IEEE international conference on Mobile computing and networking
Bayesian Landmark Learning for Mobile Robot Localization
Machine Learning
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Proceedings of the 10th international conference on Architectural support for programming languages and operating systems
Motion Tracking: No Silver Bullet, but a Respectable Arsenal
IEEE Computer Graphics and Applications
Localization from mere connectivity
Proceedings of the 4th ACM international symposium on Mobile ad hoc networking & computing
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Distributed localization in wireless sensor networks: a quantitative comparison
Computer Networks: The International Journal of Computer and Telecommunications Networking - Special issue: Wireless sensor networks
Nonparametric belief propagation for self-calibration in sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Hardware design experiences in ZebraNet
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Node Localization Using Mobile Robots in Delay-Tolerant Sensor Networks
IEEE Transactions on Mobile Computing
CarTel: a distributed mobile sensor computing system
Proceedings of the 4th international conference on Embedded networked sensor systems
InTrack: high precision tracking of mobile sensor nodes
EWSN'07 Proceedings of the 4th European conference on Wireless sensor networks
Organizing a global coordinate system from local information on an ad hoc sensor network
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
A survey on position-based routing in mobile ad hoc networks
IEEE Network: The Magazine of Global Internetworking
Collaborative tracking in mobile underwater networks
Proceedings of the Fourth ACM International Workshop on UnderWater Networks
Managing cohort movement of mobile sensors via GPS-free and compass-free node localization
Journal of Parallel and Distributed Computing
User-profile-driven collaborative bandwidth sharing on mobile phones
Proceedings of the 1st ACM Workshop on Mobile Cloud Computing & Services: Social Networks and Beyond
Controlling error propagation in mobile-infrastructure based localization
MELT'09 Proceedings of the 2nd international conference on Mobile entity localization and tracking in GPS-less environments
A survey on localization for mobile wireless sensor networks
MELT'09 Proceedings of the 2nd international conference on Mobile entity localization and tracking in GPS-less environments
eShare: a capacitor-driven energy storage and sharing network for long-term operation
Proceedings of the 8th ACM Conference on Embedded Networked Sensor Systems
In-network data acquisition and replication in mobile sensor networks
Distributed and Parallel Databases
Performance of collaborative GPS localization in pedestrian ad hoc networks
Proceedings of the third ACM international workshop on Mobile Opportunistic Networks
Approximate distributed kalman filtering for cooperative multi-agent localization
DCOSS'10 Proceedings of the 6th IEEE international conference on Distributed Computing in Sensor Systems
Virtual compass: relative positioning to sense mobile social interactions
Pervasive'10 Proceedings of the 8th international conference on Pervasive Computing
GPS-free directional localization via dual wireless radios
Computer Communications
Achieving long-term operation with a capacitor-driven energy storage and sharing network
ACM Transactions on Sensor Networks (TOSN)
Collaborative localization of mobile users with Bluetooth: caching and synchronisation
ACM SIGBED Review - Special Issue on the 3rd International Workshop on Networks of Cooperating Objects (CONET 2012)
Range-free mobile node localization using static anchor
WASA'13 Proceedings of the 8th international conference on Wireless Algorithms, Systems, and Applications
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As the field of sensor networks matures, research in this area is focusing not only on fixed networks, but also on mobile sensor networks. For many reasons, both technical and logistical, such networks will often be very sparse for all or part of their operation, sometimes functioning more as disruption-tolerant networks (DTNs). While much work has been done on localization methods for densely populated fixed networks, most of these methods are inefficient or ineffective for sparse mobile networks, where connections can be infrequent. While some mobile networks rely on fixed location beacons or per-node, onboard GPS, these methods are not always possible due to cost, power and other constraints.In this paper we present the Low-density Collaborative Ad-Hoc Localization Estimation (LOCALE) system for sparse sensor networks. In LOCALE, each node estimates its own position, and collaboratively refines that location estimate by updating its prediction based on neighbors it encounters. Nodes also estimate (as a probability density function) the likelihood their prediction is accurate. We evaluate LOCALE's collaborative localization both through real implementations running on sensor nodes, as well as through simulations of larger systems. We consider scenarios of varying density (down to 0.02 neighbors per communication attempt), as well as scenarios that demonstrate LOCALE's resilience in the face of extremely-inaccurate individual nodes. Overall, our algorithms yield up to a median of 21X better accuracy for location estimation compared to existing approaches. In addition, by allowing nodes to refine location estimates collaboratively, LOCALE also reduces the need for fixed location beacons (i.e. GPS-enabled beacon towers) by as much as 64X.