The bits and flops of the n-hop multilateration primitive for node localization problems
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
Robust Positioning Algorithms for Distributed Ad-Hoc Wireless Sensor Networks
ATEC '02 Proceedings of the General Track of the annual conference on USENIX Annual Technical Conference
Localization from mere connectivity
Proceedings of the 4th ACM international symposium on Mobile ad hoc networking & computing
Semidefinite programming for ad hoc wireless sensor network localization
Proceedings of the 3rd international symposium on Information processing in sensor networks
Robust distributed node localization with error management
Proceedings of the 7th ACM international symposium on Mobile ad hoc networking and computing
Wireless sensor network localization techniques
Computer Networks: The International Journal of Computer and Telecommunications Networking
Second-Order Cone Programming Relaxation of Sensor Network Localization
SIAM Journal on Optimization
A geometrical perspective on localization
Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
Cooperative localization using angle of arrival measurements in non-line-of-sight environments
Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
Incorporating Data from Multiple Sensors for Localizing Nodes in Mobile Ad Hoc Networks
IEEE Transactions on Mobile Computing
An Effective PSO-Based Node Localization Scheme for Wireless Sensor Networks
PDCAT '08 Proceedings of the 2008 Ninth International Conference on Parallel and Distributed Computing, Applications and Technologies
IEEE Transactions on Signal Processing
Relative location estimation in wireless sensor networks
IEEE Transactions on Signal Processing
Minimum variance in biased estimation: bounds and asymptotically optimal estimators
IEEE Transactions on Signal Processing
Exploring estimator bias-variance tradeoffs using the uniform CRbound
IEEE Transactions on Signal Processing
Network Localization with Biased Range Measurements
IEEE Transactions on Wireless Communications
On the capacity of multiuser MIMO networks with interference
IEEE Transactions on Wireless Communications
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In this paper, we investigate the optimal performance of collaborative position location. In particular, we develop a branch-and-bound (BB) solution search strategy, coupled with the reformulation linearization technique (RLT), to solve the maximum likelihood estimation (MLE) problem for collaborative position location, which is in general a nonlinear and nonconvex optimization problem. Compared with existing work which has only approximately solved the MLE problem, our approach is guaranteed to produce the (1 - ε)-optimal solution to the MLE for arbitrarily small ε. With a guaranteed optimal solution to the MLE, we show that for some node geometries in noncollaborative position location, which can be viewed as a special case of collaborative position location, the Cramer-Rao lower bound (CRLB) for an unbiased estimator is no longer a meaningful performance benchmark. We demonstrate that the time-of-arrival (TOA) based MLE is in general a biased estimator and it sometimes has a mean square error (MSE) smaller than the CRLB, and thus can serve as a more practical performance benchmark. Finally, we compare the MLE with some existing position location schemes and demonstrate that it also serves as a good performance benchmark for collaborative position location.