Reconstructing a three-dimensional model with arbitrary errors
STOC '96 Proceedings of the twenty-eighth annual ACM symposium on Theory of computing
An algorithm for two-dimensional rigidity percolation: the pebble game
Journal of Computational Physics
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
A proof of Connelly's conjecture on 3-connected circuits of the rigidity matroid
Journal of Combinatorial Theory Series B
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Low-dimensional embedding with extra information
SCG '04 Proceedings of the twentieth annual symposium on Computational geometry
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Connected rigidity matroids and unique realizations of graphs
Journal of Combinatorial Theory Series B
Robust distributed node localization with error management
Proceedings of the 7th ACM international symposium on Mobile ad hoc networking and computing
Robust statistical methods for securing wireless localization in sensor networks
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Attack-resistant location estimation in sensor networks
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Localization in sparse networks using sweeps
Proceedings of the 12th annual international conference on Mobile computing and networking
Spinning beacons for precise indoor localization
Proceedings of the 6th ACM conference on Embedded network sensor systems
Underground coal mine monitoring with wireless sensor networks
ACM Transactions on Sensor Networks (TOSN)
Localization with snap-inducing shaped residuals (SISR): coping with errors in measurement
Proceedings of the 15th annual international conference on Mobile computing and networking
Connectivity-based localization of large-scale sensor networks with complex shape
ACM Transactions on Sensor Networks (TOSN)
Canopy closure estimates with GreenOrbs: sustainable sensing in the forest
Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems
Quality of Trilateration: Confidence-Based Iterative Localization
IEEE Transactions on Parallel and Distributed Systems
Rendered path: range-free localization in anisotropic sensor networks with holes
IEEE/ACM Transactions on Networking (TON)
Beyond trilateration: on the localizability of wireless ad hoc networks
IEEE/ACM Transactions on Networking (TON)
Sweep Coverage with Mobile Sensors
IEEE Transactions on Mobile Computing
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Knowing accurate positions of nodes in wireless ad hoc and sensor networks is essential for a wide range of pervasive and mobile applications. However, errors are inevitable in distance measurements and we observe that a small number of outliers can degrade localization accuracy drastically. To deal with noisy and outlier ranging results, triangle inequality, is often employed in existing approaches. Our study shows that triangle inequality has many limitations, which make it far from accurate and reliable. In this study, we formally define the outlier detection problem for network localization and build a theoretical foundation to identify outliers based on graph embeddability and rigidity theory. Our analysis shows that the redundancy of distance measurements plays an important role. We then design a bilateration generic cycles-based outlier detection algorithm, and examine its effectiveness and efficiency through a network prototype implementation of MicaZ motes as well as extensive simulations. The results show that our design significantly improves the localization accuracy by wisely rejecting outliers.