Cooperative localization of WSN aided by robot

Localization is a fundamental service required by many wireless sensor network applications. We consider a distributed, probabilistic approach, suitable for outdoor systems with inaccurate range measurements. The approach restricts the possible locations of the nodes by using measurements with a mobile robot known its position and neighboring nodes location estimate. We design a two stages distributed localizing algorithm and use Gaussian Sum Filter for integrating the data involving robot and wireless sensor network. The simulation experiment shows that for inaccurate range measurements the probabilistic approach outperforms existing methods.