26,791 research outputs found
Fundamental Limits of Wideband Localization - Part II: Cooperative Networks
The availability of positional information is of great importance in many
commercial, governmental, and military applications. Localization is commonly
accomplished through the use of radio communication between mobile devices
(agents) and fixed infrastructure (anchors). However, precise determination of
agent positions is a challenging task, especially in harsh environments due to
radio blockage or limited anchor deployment. In these situations, cooperation
among agents can significantly improve localization accuracy and reduce
localization outage probabilities. A general framework of analyzing the
fundamental limits of wideband localization has been developed in Part I of the
paper. Here, we build on this framework and establish the fundamental limits of
wideband cooperative location-aware networks. Our analysis is based on the
waveforms received at the nodes, in conjunction with Fisher information
inequality. We provide a geometrical interpretation of equivalent Fisher
information for cooperative networks. This approach allows us to succinctly
derive fundamental performance limits and their scaling behaviors, and to treat
anchors and agents in a unified way from the perspective of localization
accuracy. Our results yield important insights into how and when cooperation is
beneficial.Comment: To appear in IEEE Transactions on Information Theor
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
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