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Range-free localization algorithm based on connectivity and motion

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Abstract

Information about the position of entities is very valuable in many fields. People, animals, robots and sensors are some examples of entities that have been targeted as nodes of interest for localization purposes. Technical advances in ubiquitous computing and wireless communications properties are very valuable means to obtain localization information. This paper presents a novel range-free localization algorithm based on connectivity and motion (LACM). The core of the algorithm is an error function that measures the error of the obtained trajectories with respect to the localization solution space, a multi-dimensional space that encompasses all solutions that satisfy completely the constraints of a range-free localization problem. LACM is a centralized method that can be used standalone or as a refinement phase for other localization methods. Limited-memory Broyden–Fletcher–Goldfarb–Shanno, an unconstrained optimization algorithm, is the numerical method used to minimize the error function. The performance of LACM is validated both through extensive simulations with excellent results in scenarios with irregular communications and by transforming real Bluetooth connectivity traces into localization information.

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Notes

  1. Bold non-capital letters are used to denote vectors. Bold capital letters are used to denote matrices. All non-bold letters will represent variables of scalar nature or functions. \(d_{ij}\) denotes the scalar in the row \(i\) and column \(j\) of the matrix \(\mathbf{D}\).

  2. The possibility of perturbing exclusively stationary points has been considered, but preliminary tests produced unsatisfactory results.

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Acknowledgments

The authors would like to thank Virginia Molina and Iñigo Urteaga for their inestimable work in the generation and processing of the real database. This work has been partially supported by the European Project SAIL (Project 257448).

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Authors and Affiliations

  1. Tecnalia Research and Innovation, Parque Tecnológico, Edificio 202, 48170, Zamudio, Spain

    José María Cabero, Ignacio Olabarrieta, Sergio Gil-López & Javier Del Ser

  2. Department of Electronics and Telecommunication, Faculty of Engineering, University of the Basque Country, Alda. Urquijo s/n, 48013, Bilbao, Spain

    José Luis Martín

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  1. José María Cabero
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Correspondence to José María Cabero.

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Cabero, J.M., Olabarrieta, I., Gil-López, S. et al. Range-free localization algorithm based on connectivity and motion. Wireless Netw 20, 2287–2305 (2014). https://doi.org/10.1007/s11276-014-0741-y

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