An Analysis of Error Inducing Parameters in Multihop Sensor Node Localization
IEEE Transactions on Mobile Computing
Cooperative localization bounds for indoor ultra-wideband wireless sensor networks
EURASIP Journal on Advances in Signal Processing
Indoor geolocation in the absence of direct path
IEEE Wireless Communications
Indoor geolocation science and technology
IEEE Communications Magazine
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Recently, cooperative robotic applications have attracted considerable attention. Cooperative assignments for robots demand accurate localization. Since in an indoor environment localization using GPS does not render a satisfactory result, we need to resort to different approaches for indoor geolocation. Precise localization information means better coordination that enables us to manipulate robots more effectively for variety of tasks. In this paper, the cooperative localization performance accuracy for a multi-robot operation is examined using empirical models for ranging estimates in an indoor environment scenario at the third floor of the Atwater Kent Laboratory (AKL) in the Worcester Polytechnic Institute. The two widely used ranging techniques are Time Of Arrival (TOA) using Ultra-wideband (UWB) and Received Signal Strength (RSS) using WiFi signals. We use empirical statistical models for UWB TOA-based and WiFi RSS-based operations in order to determine the Cramér-Rao-Lower-Bound (CRLB) on the performance of localization techniques in our multi-robot operation scenarios. We determine the performance of the localization of robots when they are localized individually versus when they are benefited from cooperative localization.