GloMoSim: a library for parallel simulation of large-scale wireless networks
PADS '98 Proceedings of the twelfth workshop on Parallel and distributed simulation
A performance comparison of multi-hop wireless ad hoc network routing protocols
MobiCom '98 Proceedings of the 4th 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
A two-tier data dissemination model for large-scale wireless sensor networks
Proceedings of the 8th annual international conference on Mobile computing and networking
Localization from mere connectivity
Proceedings of the 4th ACM international symposium on Mobile ad hoc networking & computing
SPEED: A Stateless Protocol for Real-Time Communication in Sensor Networks
ICDCS '03 Proceedings of the 23rd International Conference on Distributed Computing Systems
Range-free localization schemes for large scale sensor networks
Proceedings of the 9th annual international conference on Mobile computing and networking
Poster abstract: anchor-free distributed localization in sensor networks
Proceedings of the 1st international conference on Embedded networked sensor systems
Distributed online localization in sensor networks using a moving target
Proceedings of the 3rd international symposium on Information processing in sensor networks
Error characteristics of ad hoc positioning systems (aps)
Proceedings of the 5th ACM international symposium on Mobile ad hoc networking and computing
Localization for mobile sensor networks
Proceedings of the 10th annual international conference on Mobile computing and networking
VOR base stations for indoor 802.11 positioning
Proceedings of the 10th annual international conference on Mobile computing and networking
Security in wireless sensor networks
Proceedings of the 2nd ACM workshop on Security of ad hoc and sensor networks
Node Localization Using Mobile Robots in Delay-Tolerant Sensor Networks
IEEE Transactions on Mobile Computing
Convergence with Hilbert's space filling curve
Journal of Computer and System Sciences
Organizing a global coordinate system from local information on an ad hoc sensor network
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Space-filling curves: Their generation and their application to bandwidth reduction
IEEE Transactions on Information Theory
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
GLOBECOM'09 Proceedings of the 28th IEEE conference on Global telecommunications
Optimizing trajectories of mobile beacons to localize sensor networks
Proceedings of the 3rd International Conference on PErvasive Technologies Related to Assistive Environments
Four-mobile-beacon assisted localization in three-dimensional wireless sensor networks
Computers and Electrical Engineering
Wireless Communications & Mobile Computing
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Many applications of wireless sensor networks require the sensor nodes to obtain their locations. The main idea in most localization methods has been that some statically deployed nodes (landmarks) with known coordinates (e.g., GPS-equipped nodes) transmit beacons with their coordinates in order to help other nodes to localize themselves. A promising method that significantly reduces the cost is to replace the set of statically deployed GPS-enhanced sensors with one mobile landmark equipped with a GPS unit that moves to cover the entire network. In this case, a fundamental research issue is the planning of the path that the mobile landmark should travel along in order to minimize the localization error as well as the time required to localize the whole network. These two objectives can potentially conflict with each other. In this paper, we first study three different trajectories for the mobile landmark, namely Scan, Double Scan, and Hilbert. We show that any deterministic trajectory that covers the whole area offers significant benefits compared to a random movement of the landmark. When the mobile landmark traverses the network area at a fine resolution, Scan has the lowest localization error among the three trajectories, followed closely by Hilbert. But when the resolution of the trajectory is larger than the communication range, the Hilbert space-filling curve offers significantly better accuracy than the other two trajectories. We further study the tradeoffs between the trajectory resolution and the localization accuracy in the presence of 2-hop localization, in which sensors that have already obtained an estimate of their positions help to localize other sensors. We show that under moderate sensor mobility, 2-hop localization along with a good trajectory reduces the average localization error over time by about 40%.