Localization applying an efficient neural network mapping
Proceedings of the 1st international conference on Autonomic computing and communication systems
Cooperative node localization using nonlinear data projection
ACM Transactions on Sensor Networks (TOSN)
Multi-Robot Cooperated Sensor Networks Hierarchical Expanding Deployment and Perception Architecture
CAR '09 Proceedings of the 2009 International Asia Conference on Informatics in Control, Automation and Robotics
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There has been a lot of work on localization for sensor networks. Most localization schemes assume an already deployed network. Very little research has been done for active sensor deployment with mobile robots. In this paper, we present a distributed sequential localization process which is tightly integrated with robotic sensor deployment. Being location-aware, sensors can be placed in advantageous locations to avoid big localization errors. In turn, the accurate localization result helps further sensor deployment. We compare our distributed sequential localization scheme with five existing localization algorithms, both through simulations and through repeated runs on a mote testbed. Results show that the distributed sequential localization algorithm produces comparable results to the state-of-the-art centralized localization algorithms. Experiments also show that pre-post processing plays important roles at getting good localization results for all localization algorithms.