11,615 research outputs found
Scalable and Fully Distributed Localization in Large-Scale Sensor Networks
This work proposes a novel connectivity-based localization algorithm, well suitable for large-scale sensor networks with complex shapes and a non-uniform nodal distribution. In contrast to current state-of-the-art connectivity-based localization methods, the proposed algorithm is highly scalable with linear computation and communication costs with respect to the size of the network; and fully distributed where each node only needs the information of its neighbors without cumbersome partitioning and merging process. The algorithm is theoretically guaranteed and numerically stable. Moreover, the algorithm can be readily extended to the localization of networks with a one-hop transmission range distance measurement, and the propagation of the measurement error at one sensor node is limited within a small area of the network around the node. Extensive simulations and comparison with other methods under various representative network settings are carried out, showing the superior performance of the proposed algorithm. © 2017 by the authors
D-SLATS: Distributed Simultaneous Localization and Time Synchronization
Through the last decade, we have witnessed a surge of Internet of Things
(IoT) devices, and with that a greater need to choreograph their actions across
both time and space. Although these two problems, namely time synchronization
and localization, share many aspects in common, they are traditionally treated
separately or combined on centralized approaches that results in an ineffcient
use of resources, or in solutions that are not scalable in terms of the number
of IoT devices. Therefore, we propose D-SLATS, a framework comprised of three
different and independent algorithms to jointly solve time synchronization and
localization problems in a distributed fashion. The First two algorithms are
based mainly on the distributed Extended Kalman Filter (EKF) whereas the third
one uses optimization techniques. No fusion center is required, and the devices
only communicate with their neighbors. The proposed methods are evaluated on
custom Ultra-Wideband communication Testbed and a quadrotor, representing a
network of both static and mobile nodes. Our algorithms achieve up to three
microseconds time synchronization accuracy and 30 cm localization error
Belief Consensus Algorithms for Fast Distributed Target Tracking in Wireless Sensor Networks
In distributed target tracking for wireless sensor networks, agreement on the
target state can be achieved by the construction and maintenance of a
communication path, in order to exchange information regarding local likelihood
functions. Such an approach lacks robustness to failures and is not easily
applicable to ad-hoc networks. To address this, several methods have been
proposed that allow agreement on the global likelihood through fully
distributed belief consensus (BC) algorithms, operating on local likelihoods in
distributed particle filtering (DPF). However, a unified comparison of the
convergence speed and communication cost has not been performed. In this paper,
we provide such a comparison and propose a novel BC algorithm based on belief
propagation (BP). According to our study, DPF based on metropolis belief
consensus (MBC) is the fastest in loopy graphs, while DPF based on BP consensus
is the fastest in tree graphs. Moreover, we found that BC-based DPF methods
have lower communication overhead than data flooding when the network is
sufficiently sparse
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
In-Network Outlier Detection in Wireless Sensor Networks
To address the problem of unsupervised outlier detection in wireless sensor
networks, we develop an approach that (1) is flexible with respect to the
outlier definition, (2) computes the result in-network to reduce both bandwidth
and energy usage,(3) only uses single hop communication thus permitting very
simple node failure detection and message reliability assurance mechanisms
(e.g., carrier-sense), and (4) seamlessly accommodates dynamic updates to data.
We examine performance using simulation with real sensor data streams. Our
results demonstrate that our approach is accurate and imposes a reasonable
communication load and level of power consumption.Comment: Extended version of a paper appearing in the Int'l Conference on
Distributed Computing Systems 200
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