The active badge location system
ACM Transactions on Information Systems (TOIS)
Fundamentals of statistical signal processing: estimation theory
Fundamentals of statistical signal processing: estimation theory
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
Wireless Communications: Principles and Practice
Wireless Communications: Principles and Practice
Robotics-based location sensing using wireless ethernet
Proceedings of the 8th annual international conference on Mobile computing and networking
The bits and flops of the n-hop multilateration primitive for node localization problems
WSNA '02 Proceedings of the 1st ACM international workshop on Wireless sensor networks and applications
GPS-free Positioning in Mobile Ad Hoc Networks
Cluster Computing
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Distributed online localization in sensor networks using a moving target
Proceedings of the 3rd international symposium on Information processing in sensor networks
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Relative location estimation in wireless sensor networks
IEEE Transactions on Signal Processing
IEEE Communications Magazine
CASINO: creating alea with a sensor-based interactive network
Proceedings of the 8th ACM Conference on Embedded Networked Sensor Systems
Perimeter detection in wireless sensor networks
Robotics and Autonomous Systems
An efficient algorithm for mobile localization in sensor networks
International Journal of Automation and Computing
Wireless Personal Communications: An International Journal
Cooperative localization revisited: error bound, scaling, and convergence
Proceedings of the 16th ACM international conference on Modeling, analysis & simulation of wireless and mobile systems
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Recent advances in wireless communication, low power sensors and microcontrollers enable the deployment of large-scale wireless sensor networks. Localization is a fundamental service required by many wireless sensor network applications. We consider a distributed, probabilistic approach, suitable for outdoor systems with inaccurate range measurements. The approach restricts the possible locations of the nodes by using a combination of positive and negative constraints. We reduce the computational complexity of the algorithm by using two-dimensional fast Fourier transforms (FFTs). We evaluated the proposed probabilistic approach through simulations based on real-world measurements; the results are compared with two other localization schemes and the Cramer-Rao lower bound (CRLB). The results show that, for inaccurate range measurements, the proposed probabilistic approach outperforms existing methods and approaches the CRLB.