Next century challenges: scalable coordination in sensor networks
MobiCom '99 Proceedings of the 5th annual ACM/IEEE international conference on Mobile computing and networking
Next century challenges: mobile networking for “Smart Dust”
MobiCom '99 Proceedings of the 5th annual ACM/IEEE international conference on Mobile computing and networking
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
Hybrid Dynamical Systems: Controller and Sensor Switching Problems
Hybrid Dynamical Systems: Controller and Sensor Switching Problems
Proceedings of the 10th international conference on Architectural support for programming languages and operating systems
Nonlinear state estimation for uncertain systems with an integralconstraint
IEEE Transactions on Signal Processing
Mobility modeling, location tracking, and trajectory prediction in wireless ATM networks
IEEE Journal on Selected Areas in Communications
The REKF localization system: node localization using mobile robots
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
A high-accuracy, low-cost localization system for wireless sensor networks
Proceedings of the 3rd international conference on Embedded networked sensor systems
Simultaneous localization, calibration, and tracking in an ad hoc sensor network
Proceedings of the 5th international conference on Information processing in sensor networks
StarDust: a flexible architecture for passive localization in wireless sensor networks
Proceedings of the 4th international conference on Embedded networked sensor systems
Thunder: towards practical, zero cost acoustic localization for outdoor wireless sensor networks
ACM SIGMOBILE Mobile Computing and Communications Review
Proceedings of the 4th workshop on Embedded networked sensors
Simultaneous adaptive localization of a wireless sensor network
ACM SIGMOBILE Mobile Computing and Communications Review
Path planning of mobile landmarks for localization in wireless sensor networks
Computer Communications
Ordinal MDS-based localisation for wireless sensor networks
International Journal of Sensor Networks
Monte Carlo localization for mobile wireless sensor networks
Ad Hoc Networks
Localization applying an efficient neural network mapping
Proceedings of the 1st international conference on Autonomic computing and communication systems
LOCALE: Collaborative Localization Estimation for Sparse Mobile Sensor Networks
IPSN '08 Proceedings of the 7th international conference on Information processing in sensor networks
Attack-tolerant localization via iterative verification of locations in sensor networks
ACM Transactions on Embedded Computing Systems (TECS)
An adaptive middleware to support delay tolerant networking
Proceedings of the 7th workshop on Reflective and adaptive middleware
Cooperative node localization using nonlinear data projection
ACM Transactions on Sensor Networks (TOSN)
Fast track article: Gradient-based target localization in robotic sensor networks
Pervasive and Mobile Computing
Sensor self-localization with beacon position uncertainty
Signal Processing
A framework for evaluating DTN mobility models
Proceedings of the 2nd International Conference on Simulation Tools and Techniques
Location Discovery in SpeckNets Using Relative Direction Information
WASA '09 Proceedings of the 4th International Conference on Wireless Algorithms, Systems, and Applications
Virtual-coordinate-based delivery-guaranteed routing protocol in wireless sensor networks
IEEE/ACM Transactions on Networking (TON)
SewerSnort: a drifting sensor for in-situ sewer gas monitoring
SECON'09 Proceedings of the 6th Annual IEEE communications society conference on Sensor, Mesh and Ad Hoc Communications and Networks
Range-only SLAM with a mobile robot and a wireless sensor networks
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements
Robotics and Autonomous Systems
Selection and navigation of mobile sensor nodes using a sensor network
Pervasive and Mobile Computing
InTrack: high precision tracking of mobile sensor nodes
EWSN'07 Proceedings of the 4th European conference on Wireless sensor networks
Localizing tags using mobile infrastructure
LoCA'07 Proceedings of the 3rd international conference on Location-and context-awareness
Controlling error propagation in mobile-infrastructure based localization
MELT'09 Proceedings of the 2nd international conference on Mobile entity localization and tracking in GPS-less environments
Rigidity guided localisation for mobile robotic sensor networks
International Journal of Ad Hoc and Ubiquitous Computing
Mobile element assisted cooperative localization for wireless sensor networks with obstacles
IEEE Transactions on Wireless Communications
Decentralized control of multi-agent systems for swarming with a given geometric pattern
Computers & Mathematics with Applications
EWSN'11 Proceedings of the 8th European conference on Wireless sensor networks
Decentralized control of a group of mobile robots for deployment in sweep coverage
Robotics and Autonomous Systems
A symmetric localization algorithm for MANETs based on collapsing coordinate systems
HiPC'05 Proceedings of the 12th international conference on High Performance Computing
Experiences using a miniature vehicular network testbed
Proceedings of the ninth ACM international workshop on Vehicular inter-networking, systems, and applications
Delay tolerant network based e-mail system using trains
Proceedings of the Asian Internet Engineeering Conference
Performance limits in sensor localization
Automatica (Journal of IFAC)
Testbeds for ubiquitous robotics: A survey
Robotics and Autonomous Systems
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We present a novel scheme for node localization in a Delay-Tolerant Sensor Network (DTN). In a DTN, sensor devices are often organized in network clusters that may be mutually disconnected. Some mobile robots may be used to collect data from the network clusters. The key idea in our scheme is to use this robot to perform location estimation for the sensor nodes it passes based on the signal strength of the radio messages received from them. Thus, we eliminate the processing constraints of static sensor nodes and the need for static reference beacons. Our mathematical contribution is the use of a Robust Extended Kalman Filter (REKF)-based state estimator to solve the localization. Compared to the standard extended Kalman filter, REKF is computationally efficient and also more robust. Finally, we have implemented our localization scheme on a hybrid sensor network test bed and show that it can achieve node localization accuracy within 1m in a large indoor setting.