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
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Energy-efficient surveillance system using wireless sensor networks
Proceedings of the 2nd international conference on Mobile systems, applications, and services
The flooding time synchronization protocol
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Robust distributed network localization with noisy range measurements
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
An analysis of a large scale habitat monitoring application
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Node Localization Using Mobile Robots in Delay-Tolerant Sensor Networks
IEEE Transactions on Mobile Computing
Resilient Localization for Sensor Networks in Outdoor Environments
ICDCS '05 Proceedings of the 25th IEEE International Conference on Distributed Computing Systems
A high-accuracy, low-cost localization system for wireless sensor networks
Proceedings of the 3rd international conference on Embedded networked sensor systems
The effects of ranging noise on multihop localization: an empirical study
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
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
MoteTrack: a robust, decentralized approach to RF-Based location tracking
LoCA'05 Proceedings of the First international conference on Location- and Context-Awareness
Location Discovery in SpeckNets Using Relative Direction Information
WASA '09 Proceedings of the 4th International Conference on Wireless Algorithms, Systems, and Applications
Design, simulation and measurement of an accurate wireless sensor network localization system
Proceedings of the 5th ACM workshop on Performance monitoring and measurement of heterogeneous wireless and wired networks
Localization in wireless sensor networks with known coordinate database
EURASIP Journal on Wireless Communications and Networking - Special issue on signal processing-assisted protocols and algorithms for cooperating objects and wireless sensor networks
TWEET: an envelope detection based broadband ultrasonic ranging system
Proceedings of the 14th ACM international conference on Modeling, analysis and simulation of wireless and mobile systems
Acoustical ranging techniques in embedded wireless sensor networked devices
ACM Transactions on Sensor Networks (TOSN)
Taxonomy of Fundamental Concepts of Localization in Cyber-Physical and Sensor Networks
Wireless Personal Communications: An International Journal
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Localization for outdoor wireless sensor networks has been a challenge for real applications. Although many solutions have been proposed, few of them can be used in real applications because of their high cost, low accuracy or infeasibility due to practical issues. In this paper, we propose a practical acoustic localization scheme called Thunder. Thunder employs an asymmetric architecture and shifts most of the complexities and hardware requirements from each node to a single powerful centralized device. The solution is efficient, and requires virtually zero cost in terms of extra per node hardware and innetwork communication. This paper also presents an efficient scheduling algorithm called Equilateral Triangle Scheduling to schedule Thunder for very large sensor networks and a resilient algorithm called Adaptive Fuzzy Clustering to provide robust localization without sacrificing efficiency in the presence of a high percentage of large ranging errors. To validate and evaluate Thunder, we built an experimental localization system based on the Mica2 platform, which achieved localization errors of about 1 meter in medium scale localization experiments.