The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Dynamic fine-grained localization in Ad-Hoc networks of sensors
Proceedings of the 7th annual international conference on Mobile computing and networking
Robust Kalman Filtering for Signals and Systems with Large Uncertainties
Robust Kalman Filtering for Signals and Systems with Large Uncertainties
A Protocol for Data Dissemination in Frequently Partitioned Mobile Ad Hoc Networks
ISCC '03 Proceedings of the Eighth IEEE International Symposium on Computers and Communications
Improving Hallway Navigation in Mobile Robots with Sensor Habituation
IJCNN '00 Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks (IJCNN'00)-Volume 5 - Volume 5
The n-hop multilateration primitive for node localization problems
Mobile Networks and Applications
Self-configuring localization systems: Design and Experimental Evaluation
ACM Transactions on Embedded Computing Systems (TECS)
Distributed state representation for tracking problems in sensor networks
Proceedings of the 3rd international symposium on Information processing in sensor networks
Tracking moving devices with the cricket location system
Proceedings of the 2nd international conference on Mobile systems, applications, and services
Tracking multiple targets with self-organizing distributed ground sensors
Journal of Parallel and Distributed Computing
Decentralized Multiple Target Tracking Using Netted Collaborative Autonomous Trackers
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Localization and Navigation Assisted by Networked Cooperating Sensors and Robots
International Journal of Robotics Research
The cricket indoor location system
The cricket indoor location system
Collaborative in-network processing for target tracking
EURASIP Journal on Applied Signal Processing
Bayesian Filtering for Location Estimation
IEEE Pervasive Computing
A distributed algorithm for managing multi-target identities in wireless ad-hoc sensor networks
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
RAGOBOT: a new platform for wireless mobile sensor networks
DCOSS'05 Proceedings of the First IEEE international conference on Distributed Computing in Sensor Systems
Adaptive energy-efficient scheduling for hierarchical wireless sensor networks
ACM Transactions on Sensor Networks (TOSN)
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This paper presents the design, architecture, implementation, and experimental results from a networked mobile sensor test-bed developed for collaborative sensor tracking applications. The test-bed comprises a fleet of networked mobile sensors, an indoor localization system, a control, debugging and management infrastructure, and a tiered wireless ad hoc network for seamless integration of the above three components and the existing wireless infrastructure. First, the software and hardware architectural details of a swarm capable autonomous vehicle (SCAV) system for our collaborative applications are presented. Second, the details of an indoor self-localization and Kalman filter based navigation system design for the SCAV platform are presented. Third, as an example multi-sensor application, a collaborative multi-target tracking problem and a heuristics-based networked solution are formulated. Finally, the performance of the collaborative tracking framework is evaluated on the laboratory test-bed for characterizing the impacts of localization and navigation errors on the distributed tracking performance. The experimental study also characterizes the tradeoff between the tracking performance and the consumed wireless bandwidth. The experimental results demonstrate a number of counterintuitive results due to various errors in sensor localization and navigation.