The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Linear Pose Estimation from Points or Lines
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Distributed Computation Platform for Wireless Embedded Sensing
ICCD '02 Proceedings of the 2002 IEEE International Conference on Computer Design: VLSI in Computers and Processors (ICCD'02)
A cone-based distributed topology-control algorithm for wireless multi-hop networks
IEEE/ACM Transactions on Networking (TON)
Radio interferometric geolocation
Proceedings of the 3rd international conference on Embedded networked sensor systems
Bearings-only localization and mapping
Bearings-only localization and mapping
Telos: enabling ultra-low power wireless research
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Radio interferometric tracking of mobile wireless nodes
Proceedings of the 5th international conference on Mobile systems, applications and services
Roomba MADNeT: a mobile ad-hoc delay tolerant network testbed
ACM SIGMOBILE Mobile Computing and Communications Review
Using Local Geometry for Tunable Topology Control in Sensor Networks
IEEE Transactions on Mobile Computing
WiFi-SLAM using Gaussian process latent variable models
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
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Relative bearing between robots is important in applications like pursuit-evasion [11] and SLAM [7]. This is also true in sensor networks, where the bearing of one sensor node relative to another has been used for localization [5], [18], [20] and topology control [14], [21], [6]. Most systems use dedicated sensors like an IR array or a camera to obtain relative bearing. We study the use of radio signal strength (RSS) in commodity radios for obtaining relative bearing. We show that by using the robot's mobility, commodity radios can be used to obtain coarse relative bearing. This measurement can be used for a suite of applications that do not require very precise bearing measurement. We analyze signal strength variations in simulation and experiment and also show an algorithm that uses this coarse bearing computation in a practical setting.