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The authors present a fully self-organizing approach for creating and maintaining a reference coordinate system for self-localization in Sensor and Actor NETworks (SANETs). GPS technology has become a de facto standard for outdoor localization, however, self-localization in GPS denied scenarios is still extremely challenging. Typically, anchor nodes or global state information are used to update the nodes' location information. In contrast, they present a fully self-organizing strategy to generate a distributed reference coordinate system. In particular, they use autonomous robot systems to span and maintain this coordinate system. In particular, they investigated the capabilities of the Mass-Spring-Relaxation (MSR) algorithm, which is frequently used for fault-tolerant and robust localization.
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