Using proximity and quantized RSS for sensor localization in wireless networks
WSNA '03 Proceedings of the 2nd ACM international conference on Wireless sensor networks and applications
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Mobile Networks and Applications
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International Journal of Robotics Research
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Robotics and Autonomous Systems
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Exactly Sparse Delayed-State Filters for View-Based SLAM
IEEE Transactions on Robotics
Delayed-state information filter for cooperative decentralized tracking
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
An improved particle filter for WSN-aided robot localization
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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Journal of Intelligent and Robotic Systems
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Robotics and Autonomous Systems
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This paper presents a new method for the localization of a Wireless Sensor Network (WSN) by means of collaboration with a robot within a Network Robot System (NRS). The method employs the signal strength as input, and has two steps: an initial estimation of the position of the nodes is obtained centrally by one robot and is based on particle filtering. It does not require any prior information about the position of the nodes. In the second stage, the nodes refine their position estimates employing a decentralized information filter. The paper shows how the method is able to recover the 3D position of the nodes, and is very suitable for WSN outdoor applications. The paper includes several implementation aspects and experimental results.