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Robust distributed network localization with noisy range measurements
Abstract
This paper describes a distributed, linear-time algorithm for localizing sensor network nodes in the presence of range measurement noise and demonstrates the algorithm on a physical network. We introduce the probabilistic notion of robust quadrilaterals as a way to avoid flip ambiguities that otherwise corrupt localization computations. We formulate the localization problem as a two-dimensional graph realization problem: given a planar graph with approximately known edge lengths, recover the Euclidean position of each vertex up to a global rotation and translation. This formulation is applicable to the localization of sensor networks in which each node can estimate the distance to each of its neighbors, but no absolute position reference such as GPS or fixed anchor nodes is available.
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Citations
Cited by
Cooperative Localization for Autonomous Underwater Vehicles
Bahr, A., Leonard, J. J., & Fallon, M. F. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908100561 · Cited by 363
Self-citationCooperative Localization for Autonomous Underwater Vehicles
Bahr, A., & Leonard, J. J. (2008) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-540-77457-0_36 · Cited by 266
Self-citationOn frame and orientation localization for relative sensing networks
Piovan, G., Shames, I., Fidan, B., Bullo, F., & Anderson, B. D. O. (2013) · Automatica · doi:10.1016/j.automatica.2012.09.014 · Cited by 105
Sensor Network Localization on the Group of Three-Dimensional Displacements
Peters, J. R., Borra, D., Paden, B. E., & Bullo, F. (2015) · SIAM Journal on Control and Optimization · doi:10.1137/140957743 · Cited by 16
Metadata
- Authors
- Moore, D., Leonard, J., Rus, D., & Teller, S.
- Venue
- Proceedings of the 2nd international conference on Embedded networked sensor systems
- Publisher
- ACM
- Published
- 2004-11-03
- Pages
- 50-61
- OpenAlex
- W2161249924
- Cited by
- 998
- References
- 0
- FWCI
- 88.62
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Robust distributed network localization with noisy range measurements. https://app.cochat.ai/papers/10.1145/1031495.1031502
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- Moore, D., Leonard, J., Rus, D., & Teller, S. (2004). Robust distributed network localization with noisy range measurements. Proceedings of the 2nd international conference on Embedded networked sensor systems. https://doi.org/10.1145/1031495.1031502
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
