Localization of a wireless sensor network with unattended ground sensors and some mobile robots

2006 IEEE Conference on Robotics, Automation and Mechatronics

Volumn , Issue , 2006, Pages

  Sreenath, Koushil ^a   Lewis, Frank L ^a   Popa, Dan O ^a  

^a UNIVERSITY OF TEXAS AT ARLINGTON   (United States)

Author keywords

Adaptive localization; Continuous Discrete Extended Kalman Filter (CD EKF); Sensor networks; Simultaneous localization

Indexed keywords

DISCRETE TIME CONTROL SYSTEMS; GLOBAL POSITIONING SYSTEM; KALMAN FILTERS; MOBILE ROBOTS; UNCERTAINTY ANALYSIS;

ADAPTIVE LOCALIZATION; CONTINUOUS DISCRETE EXTENDED KALMAN FILTER (CD EKF); ROBOT NAVIGATION; SIMULTANEOUS LOCALIZATION;

WIRELESS SENSOR NETWORKS;

EID: 34547357327     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/RAMECH.2006.252610     Document Type: Conference Paper

References (28)

1. N. Bulusu, J. Heidemann and D. Estrin, "Gps-less low cost outdoor localization for very small devices," IEEE Personal Communications Magazine, vol. 7, pp. 28-34, 2005.
2. J. Bachrach and C. Taylor, "Localization in sensor networks," in Handbook of Sensor Networks : Algorithms and Architectures, 1st ed., vol. 1, I. Stojmenovi Ed. USA: Wiley, 2005,.
3. B. Hofmann-Wellenhof, H. Lichtenegger and J. Collins, Global Positioning System : Theory and Practice, New York: Springer, 2004.
4. R.L. Moses, D. Krishnamurthy and R.M. Patterson, "A self-localization method for wireless sensor networks," EURASIP Journal on Applied Signal Processing, 2002.
5. N. Bulusu, J. Heidemann and D. Estrin, "Adaptive Beacon Placement," ICDCS '01: Proceedings of the the 21st International Conference on Distributed Computing Systems, pp. 489, 2001.
6. C. Savarese, J.M. Rabaey and J. Beutel, "Locationing in distributed ad-hoc wireless sensor networks, IEEE International Conference on Acoustics, Speech, and Signal Processing, 2001.
7. N. Patwari, J.N. Ash, S. Kyperountas, A.O. Hero III, R.L. Moses and N.S. Correal, "Locating the nodes: cooperative localization in wireless sensor networks," Signal Processing Magazine, IEEE, vol. 22, pp. 54-69, July 2005.
8. P. Bahl and V.N. Padmanabhan, "RADAR: An In-Building RF-Based User Location and Tracking System," Proceedings of the IEEE Infocom 2000, Tel-Aviv, Israel, pp. 775-784, Mar. 2000
9. N.B. Priyantha, A. Chakraborty and H. Balakrishnan, "The cricket location-support system," Sixth Annual ACM International Conference on Mobile Computing and Networking (MOBICOM), Boston, Massachusetts, August 2000.
10. A. Savvides, C. Han and M.B. Strivastava, "Dynamic fine-grained localization in Ad-Hoc networks of sensors, " MobiCom '01 : Proceedings of the 7th annual international conference on Mobile computing and networking, Rome, Italy, pp. 166-179, 2001.
11. D. Niculescu and B. Nath, "Ad Hoc Positioning System (APS) using AoA," Proceedings of INFOCOM, San Francisco, CA, 2003
12. C. Taylor, A. Rahimi, J. Bachrach and H. Shrobe, "Simultaneous Localization and Tracing in an Ad Hoc Sensor Network," Information Procession in Sensor Networks, 2005.
13. A.M. Brooks, S. Williams and A. Makarenko, "Automatic Online Localization of Nodes in an Active Sensor Network," International Conference on Robotics and Automation, vol. 5, pp. 4821-4826, 2004.
14. S. Shenoy and J. Tan, "Simultaneous Localization and Mobile Robot Navigation in a Hybrid Sensor Network," IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2005.
15. A. Galstyan, B. Krishnamachari, K. Lerman and S. Pattem, "Distributed online localization in sensor networks using a moving target," IPSN'04: Proceedings of the Third International Symposium on Information Processing in Sensor Networks, pp. 61-70, 2004.
16. V. Cevher and J.H. McClellan, "Sensor array calibration via tracking with the extended Kalman filter," IEEE International Conference on Acoustics, Speech, and Signal Processing, vol. 5, pp. 2817-2820, 2001.
17. E. Olson, J. Leonard and S. Teller, "Robust Range-Only Beacon Localization," in IEEE/OES Autonomous Underwater Vehicles, 2004, pp. 66-75.
18. W. Xiao, J.K. Wu and L. Xie, "Sensor scheduling for target tracking in networks of active sensors," in IEEE International Workshop on Sensor Networks and Applications, 2005.
19. Dissanayake, Gamini M. W. M., P. Newman, S. Clark and H.F. Durrant-Whyte, "A Solution to the Simultaneous Localization and Map Building (SLAM) Problem," vol. 17, pp. 229-241, June 2001 2001.
20. J.W. Fenwick, P.M. Newman and J.J. Leonard, "Cooperative Concurrent Mapping and Localization," in Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May 2002, pp. 1810-1817.
21. P.S. Maybeck, Stochastic models, estimation, and control, New York: Academic Press, 1979.
22. W.S. Levine Ed., The Control Handbook, New York: CRC Press, 1996.
23. S.I. Roumeliotis and G.A. Bekey, "An extended Kalman filter for frequent local and infrequent global sensor data fusion," in SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, pp. 11-22.
24. E. Kiriy and M. Buehler, "Three-state Extended Kalman Filter for Mobile Robot Localization," McGill University., Montreal, Canada, Tech. Rep. TR-CIM 05.06, April, 2002.
25. A. Kelly, "A 3D State Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles," Carnegie Mellon University., Pittsburgh, PA, Tech. Rep. CMU-RI-TR-94-19, May, 1994.
26. F.L. Lewis, Optimal Estimation, New York: John Wiley & Sons, 1986.
27. D. Fox, W. Burgard, F. Dellaert and S. Thrun, "Monte Carlo Localization: Efficient Position Estimation for Mobile Robots," Proceedings of the Sixteenth National Conference on Artificial Intelligence (AAAI'99), July, 1999.
28. J. Borenstein and L. Feng, "Measurement and correction of systematic odometry errors in mobile robots," IEEE Transactions on Robotics and Automation, vol. 12, pp. 869-880, 1996.