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In this paper, the authors propose an original algorithm for self-localization in mobile ad-hoc networks. The proposed technique, based on interval analysis, is suited to the limited computational and memory resources of mobile nodes. The incertitude about the estimated position of each node is propagated in an interval form. The propagation is based on a state space model and formulated by a constraints satisfaction problem. Observations errors as well as anchor nodes imperfections are taken into account in a simple and computational-consistent way. A simple Waltz algorithm is then applied in order to contract the solution, yielding a guaranteed and robust online estimation of the mobile node position.
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