The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Localization for mobile sensor networks
Proceedings of the 10th annual international conference on Mobile computing and networking
Localization from Connectivity in Sensor Networks
IEEE Transactions on Parallel and Distributed Systems
EURASIP Journal on Wireless Communications and Networking
Distributed weighted-multidimensional scaling for node localization in sensor networks
ACM Transactions on Sensor Networks (TOSN)
Localization through Map Stitching in Wireless Sensor Networks
IEEE Transactions on Parallel and Distributed Systems
Paired Measurement Localization: A Robust Approach for Wireless Localization
IEEE Transactions on Mobile Computing
Localization with snap-inducing shaped residuals (SISR): coping with errors in measurement
Proceedings of the 15th annual international conference on Mobile computing and networking
Ad-Hoc Communication and Localization System for Mobile Robots
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
A supplement to multidimensional scaling framework formobile location: a unified view
IEEE Transactions on Signal Processing
Weighing strategy for network localization under scarce ranging information
IEEE Transactions on Wireless Communications
Relative positions within small teams of mobile units
MSN'07 Proceedings of the 3rd international conference on Mobile ad-hoc and sensor networks
Computers and Electrical Engineering
Anchor-Free Localization through Flip-Error-Resistant Map Stitching in Wireless Sensor Network
IEEE Transactions on Parallel and Distributed Systems
Connectivity and RSSI based localization scheme for wireless sensor networks
ICIC'05 Proceedings of the 2005 international conference on Advances in Intelligent Computing - Volume Part II
Relative location estimation in wireless sensor networks
IEEE Transactions on Signal Processing
Least squares algorithms for time-of-arrival-based mobile location
IEEE Transactions on Signal Processing
Automatic virtual calibration of range-based indoor localization systems
Wireless Communications & Mobile Computing
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In this work, we develop an anchor-less relative localisation algorithm aimed to be used in multi-robot teams. The localisation is performed based on the Received Signal Strength Indicator (RSSI) readings collected from the messages exchanged between nodes. We use the RSSI as a rough estimate of the inverse of distance between any pair of communicating nodes, and we claim that such estimates provide a coarse information of the nodes relative localisation that is still suitable to support several coordination tasks. In addition, we introduce a relative velocity estimation framework based on the RSSI measurements. This framework uses consecutive distance measurements and position estimates to provide the relative velocity vectors for all the nodes in the network. To accomplish this, we propose using a Kalman filter and the Floyd-Warshall algorithm to generate smooth RSSI pairwise signal distance for all nodes. Then we use Multidimensional Scaling to obtain relative positions from the pairwise distances. Finally, due to anchor unavailability, relative positions are adjusted to reflect the continuous mobility by using geometric transformations, thus obtaining smoother trajectories for mobile nodes. This allows us to estimate velocity and to establish a correspondence between orientation in the physical world and in the relative coordinates system. Additionally, we study the impact of several parameters in calculating the network topology, namely different approaches to provide a symmetric distances matrix, the period of the matrix dissemination, the use of synchronisation of the transmissions, and the filtering of the RSSI data. Experimental results, with a set of MicaZ motes, show that the period of matrix dissemination is the most relevant of the parameters, specifically with larger periods providing the best results, however, shorter periods are shown to be possible as long as the transmissions are synchronised.