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Daniela Rus. Detweiler, Carrick (Carrick James) Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science 2007-08-03T15:42:07Z 2007-08-03T15:42:07Z 2006 2006 http://hdl.handle.net/1721.1/38230 154319795 Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006. Includes bibliographical references (p. 67-70). This thesis describes a geometric algorithm for the localization of mobile nodes in networks of sensors and robots using bounded regions, in particular we explore the range-only and angle-only measurement cases. The algorithm is a minimalistic approach to localization and tracking when dead reckoning is too inaccurate to be useful. The only knowledge required about the mobile node is its maximum speed. Geometric regions are formed and grown to account for the motion of the mobile node. New measurements introduce new constraints which are propagated back in time to refine previous localization regions. The mobile robots are passive listeners while the sensor nodes actively broadcast making the algorithm scalable to many mobile nodes while maintaining the privacy of individual nodes. We prove that the localization regions found are optimal -- that is, they are the smallest regions which must contain the mobile node at that time. We prove that each new measurement requires quadratic time in the number of measurements to update the system, however, we demonstrate experimentally that this can be reduced to constant time. Numerous simulations are presented, as well as results from an underwater experiment conducted at the U.C. Berkeley R.B. Gump Biological Research Station on the island of Moorea, French Polynesia. by Carrick Detweiler. S.M. 70 p. eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Electrical Engineering and Computer Science. Passive mobile robot localization within a fixed beacon field Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="84f9275f-905e-46fc-b9ec-3d4b1f44f8ef"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Passive mobile robot localization within a fixed beacon field</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2006</PublicationDate> <Authors> <Author> <DisplayName>Detweiler, Carrick (Carrick James)</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Electrical Engineering and Computer Science.</Keyword> <Abstract>This thesis describes a geometric algorithm for the localization of mobile nodes in networks of sensors and robots using bounded regions, in particular we explore the range-only and angle-only measurement cases. The algorithm is a minimalistic approach to localization and tracking when dead reckoning is too inaccurate to be useful. The only knowledge required about the mobile node is its maximum speed. Geometric regions are formed and grown to account for the motion of the mobile node. New measurements introduce new constraints which are propagated back in time to refine previous localization regions. The mobile robots are passive listeners while the sensor nodes actively broadcast making the algorithm scalable to many mobile nodes while maintaining the privacy of individual nodes. We prove that the localization regions found are optimal -- that is, they are the smallest regions which must contain the mobile node at that time. We prove that each new measurement requires quadratic time in the number of measurements to update the system, however, we demonstrate experimentally that this can be reduced to constant time. Numerous simulations are presented, as well as results from an underwater experiment conducted at the U.C. Berkeley R.B. Gump Biological Research Station on the island of Moorea, French Polynesia.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>