20,702 research outputs found
Multi-mode Tracking of a Group of Mobile Agents
We consider the problem of tracking a group of mobile nodes with limited
available computational and energy resources given noisy RSSI measurements and
position estimates from group members. The multilateration solutions are known
for energy efficiency. However, these solutions are not directly applicable to
dynamic grouping scenarios where neighbourhoods and resource availability may
frequently change. Existing algorithms such as cluster-based GPS duty-cycling,
individual-based tracking, and multilateration-based tracking can only
partially deal with the challenges of dynamic grouping scenarios. To cope with
these challenges in an effective manner, we propose a new group-based
multi-mode tracking algorithm. The proposed algorithm takes the topological
structure of the group as well as the availability of the resources into
consideration and decides the best solution at any particular time instance. We
consider a clustering approach where a cluster head coordinates the usage of
resources among the cluster members. We evaluate the energy-accuracy trade-off
of the proposed algorithm for various fixed sampling intervals. The evaluation
is based on the 2D position tracks of 40 nodes generated using Reynolds'
flocking model. For a given energy budget, the proposed algorithm reduces the
mean tracking error by up to in comparison to the existing
energy-efficient cooperative algorithms. Moreover, the proposed algorithm is as
accurate as the individual-based tracking while using almost half the energy.Comment: Accepted for publication in the 20th international symposium on
wireless personal multimedia communications (WPMC-2017
An indoor variance-based localization technique utilizing the UWB estimation of geometrical propagation parameters
A novel localization framework is presented based on ultra-wideband (UWB) channel sounding, employing a triangulation method using the geometrical properties of propagation paths, such as time delay of arrival, angle of departure, angle of arrival, and their estimated variances. In order to extract these parameters from the UWB sounding data, an extension to the high-resolution RiMAX algorithm was developed, facilitating the analysis of these frequency-dependent multipath parameters. This framework was then tested by performing indoor measurements with a vector network analyzer and virtual antenna arrays. The estimated means and variances of these geometrical parameters were utilized to generate multiple sample sets of input values for our localization framework. Next to that, we consider the existence of multiple possible target locations, which were subsequently clustered using a Kim-Parks algorithm, resulting in a more robust estimation of each target node. Measurements reveal that our newly proposed technique achieves an average accuracy of 0.26, 0.28, and 0.90 m in line-of-sight (LoS), obstructed-LoS, and non-LoS scenarios, respectively, and this with only one single beacon node. Moreover, utilizing the estimated variances of the multipath parameters proved to enhance the location estimation significantly compared to only utilizing their estimated mean values
Multitask Diffusion Adaptation over Networks
Adaptive networks are suitable for decentralized inference tasks, e.g., to
monitor complex natural phenomena. Recent research works have intensively
studied distributed optimization problems in the case where the nodes have to
estimate a single optimum parameter vector collaboratively. However, there are
many important applications that are multitask-oriented in the sense that there
are multiple optimum parameter vectors to be inferred simultaneously, in a
collaborative manner, over the area covered by the network. In this paper, we
employ diffusion strategies to develop distributed algorithms that address
multitask problems by minimizing an appropriate mean-square error criterion
with -regularization. The stability and convergence of the algorithm in
the mean and in the mean-square sense is analyzed. Simulations are conducted to
verify the theoretical findings, and to illustrate how the distributed strategy
can be used in several useful applications related to spectral sensing, target
localization, and hyperspectral data unmixing.Comment: 29 pages, 11 figures, submitted for publicatio
Enabling Robust State Estimation through Measurement Error Covariance Adaptation
Accurate platform localization is an integral component of most robotic
systems. As these robotic systems become more ubiquitous, it is necessary to
develop robust state estimation algorithms that are able to withstand novel and
non-cooperative environments. When dealing with novel and non-cooperative
environments, little is known a priori about the measurement error uncertainty,
thus, there is a requirement that the uncertainty models of the localization
algorithm be adaptive. Within this paper, we propose the batch covariance
estimation technique, which enables robust state estimation through the
iterative adaptation of the measurement uncertainty model. The adaptation of
the measurement uncertainty model is granted through non-parametric clustering
of the residuals, which enables the characterization of the measurement
uncertainty via a Gaussian mixture model. The provided Gaussian mixture model
can be utilized within any non-linear least squares optimization algorithm by
approximately characterizing each observation with the sufficient statistics of
the assigned cluster (i.e., each observation's uncertainty model is updated
based upon the assignment provided by the non-parametric clustering algorithm).
The proposed algorithm is verified on several GNSS collected data sets, where
it is shown that the proposed technique exhibits some advantages when compared
to other robust estimation techniques when confronted with degraded data
quality.Comment: 14 pages, 13 figures, Submitted to IEEE Transactions on Aerospace And
Electronic System
RSSI-Based Self-Localization with Perturbed Anchor Positions
We consider the problem of self-localization by a resource-constrained mobile
node given perturbed anchor position information and distance estimates from
the anchor nodes. We consider normally-distributed noise in anchor position
information. The distance estimates are based on the log-normal shadowing
path-loss model for the RSSI measurements. The available solutions to this
problem are based on complex and iterative optimization techniques such as
semidefinite programming or second-order cone programming, which are not
suitable for resource-constrained environments. In this paper, we propose a
closed-form weighted least-squares solution. We calculate the weights by taking
into account the statistical properties of the perturbations in both RSSI and
anchor position information. We also estimate the bias of the proposed solution
and subtract it from the proposed solution. We evaluate the performance of the
proposed algorithm considering a set of arbitrary network topologies in
comparison to an existing algorithm that is based on a similar approach but
only accounts for perturbations in the RSSI measurements. We also compare the
results with the corresponding Cramer-Rao lower bound. Our experimental
evaluation shows that the proposed algorithm can substantially improve the
localization performance in terms of both root mean square error and bias.Comment: Accepted for publication in 28th Annual IEEE International Symposium
on Personal, Indoor and Mobile Radio Communications (IEEE PIMRC 2017
Intrusion-aware Alert Validation Algorithm for Cooperative Distributed Intrusion Detection Schemes of Wireless Sensor Networks
Existing anomaly and intrusion detection schemes of wireless sensor networks
have mainly focused on the detection of intrusions. Once the intrusion is
detected, an alerts or claims will be generated. However, any unidentified
malicious nodes in the network could send faulty anomaly and intrusion claims
about the legitimate nodes to the other nodes. Verifying the validity of such
claims is a critical and challenging issue that is not considered in the
existing cooperative-based distributed anomaly and intrusion detection schemes
of wireless sensor networks. In this paper, we propose a validation algorithm
that addresses this problem. This algorithm utilizes the concept of
intrusion-aware reliability that helps to provide adequate reliability at a
modest communication cost. In this paper, we also provide a security resiliency
analysis of the proposed intrusion-aware alert validation algorithm.Comment: 19 pages, 7 figure
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