Dynamic fine-grained localization in Ad-Hoc networks of sensors
Proceedings of the 7th annual international conference on Mobile computing and networking
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
Recursive Position Estimation in Sensor Networks
ICNP '01 Proceedings of the Ninth International Conference on Network Protocols
The n-hop multilateration primitive for node localization problems
Mobile Networks and Applications
Distributed localization in wireless sensor networks: a quantitative comparison
Computer Networks: The International Journal of Computer and Telecommunications Networking - Special issue: Wireless sensor networks
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
A robustness analysis of multi-hop ranging-based localization approximations
Proceedings of the 5th international conference 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
The effects of ranging noise on multihop localization: an empirical study
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Optimal sensor placement for agent localization
ACM Transactions on Sensor Networks (TOSN)
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Mapping and exploration of closed fluid tanks, such as nuclear waste storage tanks and water sewage treatment ponds, by a swarm of underwater robots requires them to be aware of their positions, as they traverse the depths of the tank. This paper considers the challenges faced in localizing robots using reference-based localization in such clutter-prone environments. Clutter affects localization in two ways: it blocks reference communication signals, effectively preventing them from reaching the more remote regions in the tanks, and, second, it leads to the formation of non-line-of-sight (NLOS) distance measurements. In this paper, we consider the application of distributed localization techniques to cluttered environments and assess their performance. We also investigate how to place robots in a multi-hop network to improve the accuracy of position estimation in the far-fetched regions of the tank, when distributed localization is used.