Paper Info
Title
Using Angle of Arrival (Bearing) Information in Network Localization
Abstract
In this paper, we consider using angle of arrival information (bearing) for network localization and control in two different fields of multi-agent systems: (i) wireless sensor networks; (ii) robot networks. The essential property we require in this paper is that a node can infer heading information from its neighbors. We address the uniqueness of network localization solutions by the theory of globally rigid graphs. We show that while the parallel rigidity problem for formations with bearings is isomorphic to the distance case, the global rigidity of the formation is simpler (in fact identical to the simpler rigidity case) for a network with bearings, compared to formations with distances. We provide the conditions of localization for networks in which the neighbor relationship is not necessarily symmetric. I. INTRODUCTION Network localization is a basic service of many emerging computing/networking paradigms. It is typically required for wireless sensors and robotic agents for monitoring the environment or for surveillance, or for routing packets using geometric-aware routing. In pervasive computing, knowing the locations of the computers and the printers in a building will allow a computer to send a printing job to the nearest printer. The aim of localization is to assign geographic coordinates to each node in the sensor network. In this paper, nodes are thought of as sensor nodes in sensor networks or robotic agents in robot formations. The locations may be computed relatively with respect to one another, with unknown translation and rotation, yielding a relative local- ization; or, the locations may be computed with respect to a global coordinate system, producing an absolute localization. In wireless sensor networks, localization of sensors is a key enabling technology, because the sensor nodes need to know their locations in order to detect and record events so that their data is meaningful. Manual assignment of node coordinates is one possibility, but is often impractical or impossible due to the number of nodes or method of deployment. Equipping each sensor with a GPS receiver is another solution, however it is often cost prohibitive in terms of both hardware and power requirements. Furthermore,
Year
DOI
Venue
2006
10.1109/CDC.2006.376721
conference on decision and control
Keywords
DocType
ISSN
direction-of-arrival estimation,graph theory,wireless sensor networks,angle of arrival information,globally rigid graphs,parallel rigidity problem,sensor network localization,sensor node
Conference
0743-1546
Citations 
PageRank 
References 
11
0.74
8
Authors
3
Name
Order
Citations
PageRank
Tolga Eren139624.12
Walter Whiteley245032.34
Peter N. Belhumeur3122421001.27