Search results

Localization is a fundamental problem in wireless sensor networks. In many applications, sensor location information is critical for data processing and meaning. While the global positioning system (GPS) can be used to determine mote locations with meter precision, the high hardware cost and energy requirements of GPS receivers often prohibit the ubiquitous use of GPS for location estimates. This high cost (in terms of hardware price and energy consumption) of GPS has motivated researchers to develop localization protocols that determine mote locations based on cheap hardware and localization algorithms. The purpose of this paper is to present a comprehensive review of wireless sensor network localization techniques, and provide a detailed overview for several distance‐based localization algorithms.

To provide a detailed summary of wireless sensor network localization algorithms, the authors outline a tiered classification system in which they first classify algorithms as distributed, distributed‐centralized, or centralized. From this broad classification, the paper then further categorizes localization algorithms using their protocol techniques. By utilizing this classification system, the authors are able to provide a survey of several wireless sensor network localization algorithms and summarize relative algorithm performance based on the algorithms' classification.

There are numerous localization algorithms available and the performance of these algorithms is dependent on network configuration, environmental variables, and the ranging method implemented. When selecting a localization algorithm, it is important to understand basic algorithm operation and expected performance. This tier‐based algorithm classification system can be used to gain a high‐level understanding of algorithm performance and energy consumption based on known algorithm characteristics.

Localization is a widely researched field and given the quantity of localization algorithms that currently exist, it is impossible to present a complete review of every published algorithm. Instead, the paper presents a holistic view of the current state of localization research and a detailed review of ten representative distance‐based algorithms that have diverse characteristics and methods. This review presents a new classification structure that may help researchers understand, at a high‐level, the expected performance and energy consumption of algorithms not explicitly addressed by our work.

This paper aims to demonstrate a cloud-based version of the improved Monte Carlo localization algorithm with robust orientation estimation (IMCLROE). The purpose of this system is to increase the accuracy and efficiency of indoor robot localization.

The cloud-based IMCLROE is constructed with a cloud–client architecture that distributes computation between servers and a client robot. The system operates in two phases: in the offline phase, two maps are built under the MapReduce framework. This framework allows parallel and even distribution of map information to a cloud database in pre-described formats. In the online phase, an Apache HBase is adopted to calculate a pose in-memory and promptly send the result to the client robot. To demonstrate the efficiency of the cloud-based IMCLROE, a two-step experiment is conducted: first, a mobile robot implemented with a non-cloud IMCLROE and a UDOO single-board computer is tested for its efficiency on pose-estimation accuracy. Then, a cloud-based IMCLROE is implemented on a cloud–client architecture to demonstrate its efficiency on both pose-estimation accuracy and computation ability.

For indoor localization, the cloud-based IMCLROE is much more effective in acquiring pose-estimation accuracy and relieving computation burden than the non-cloud system.

The cloud-based IMCLROE achieves efficiency of indoor localization by using three innovative strategies: firstly, with the help of orientation estimation and weight calculation (OEWC), the system can sort out the best orientation. Secondly, the system reduces computation burden with map pre-caching. Thirdly, the cloud–client architecture distributes computation between the servers and client robot. Finally, the similar energy region (SER) technique provides a high-possibility region to the system, allowing the client robot to locate itself in a short time.

Precise vehicle localization is a basic and critical technique for various intelligent transportation system (ITS) applications. It also needs to adapt to the complex road environments in real-time. The global positioning system and the strap-down inertial navigation system are two common techniques in the field of vehicle localization. However, the localization accuracy, reliability and real-time performance of these two techniques can not satisfy the requirement of some critical ITS applications such as collision avoiding, vision enhancement and automatic parking. Aiming at the problems above, this paper aims to propose a precise vehicle ego-localization method based on image matching.

This study included three steps, Step 1, extraction of feature points. After getting the image, the local features in the pavement images were extracted using an improved speeded up robust features algorithm. Step 2, eliminate mismatch points. Using a random sample consensus algorithm to eliminate mismatched points of road image and make match point pairs more robust. Step 3, matching of feature points and trajectory generation.

Through the matching and validation of the extracted local feature points, the relative translation and rotation offsets between two consecutive pavement images were calculated, eventually, the trajectory of the vehicle was generated.

The experimental results show that the studied algorithm has an accuracy at decimeter-level and it fully meets the demand of the lane-level positioning in some critical ITS applications.

The purpose of this paper is to propose an enhanced pose tracking method using progressive scan matching, focusing on accuracy, time efficiency and robustness.

The general purpose of localization algorithms is to dynamically track a robot instead of globally locating one. In this paper, progressive scan matching is used to promote the performance of pose tracking. Rotational and translational samples are separately generated to accelerate the calculation and to increase the accuracy. Progressive iteration of sample generation can ensure localization to achieve a specific precision. The direction of localization uncertainty is taken into consideration to increase robustness. Nonlinear optimization is adopted to achieve a more precise result.

The proposed method was implemented on a self-made mobile robot. Two experiments were conducted to test the accuracy and time efficiency of the method. The comparison with the basic Monte Carlo localization shows the advantages of the method. Another two experiments were conducted to test the robustness of the method. The result shows that the method can relocate a robot from an inaccurate place if the offset is moderate.

An enhanced pose tracking method is proposed to promote the performance by separately processing rotational and translational samples, progressively iterating the sample generation, taking the direction of localization uncertainty into consideration and adopting nonlinear optimization. The proposed method enables a robot to accurately and quickly locate itself in the environment with robustness.

Unlike many existing methods that are primarily focused on two-dimensional localization, this research paper extended the scope to three-dimensional localization. This enhancement is particularly significant for unmanned aerial vehicle (UAV) applications that demand precise altitude information, such as infrastructure inspection and aerial surveillance, thereby broadening the applicability of UAV-assisted wireless networks.

The paper introduced a novel method that employs recurrent neural networks (RNNs) for node localization in three-dimensional space within UAV-assisted wireless networks. It presented an optimization perspective to the node localization problem, aiming to balance localization accuracy with computational efficiency. By formulating the localization task as an optimization challenge, the study proposed strategies to minimize errors while ensuring manageable computational overhead, which are crucial for real-time deployment in dynamic UAV environments.

Simulation results demonstrated significant improvements, including a channel capacity of 99.95%, energy savings of 89.42%, reduced latency by 99.88% and notable data rates for UAV-based communication with an average localization error of 0.8462. Hence, the proposed model can be used to enhance the capacity of UAVs to work effectively in diverse environmental conditions, offering a reliable solution for maintaining connectivity during critical scenarios such as terrestrial environmental crises when traditional infrastructure is unavailable.

Conventional localization methods in wireless sensor networks (WSNs), such as received signal strength (RSS), often entail manual configuration and are beset by limitations in terms of capacity, scalability and efficiency. It is not considered for 3-D localization. In this paper, machine learning such as multi-layer perceptrons (MLP) and RNN are employed to facilitate the capture of intricate spatial relationships and patterns (3-D), resulting in enhanced localization precision and also improved in channel capacity, energy savings and reduced latency of UAVs for wireless communication.

In structural health monitoring, localization of multiple slight damage without baseline data is significant and difficult. The purpose of this paper is to discuss these issues.

Damage in the structure causes singularities of displacement modes, which in turn reveals damage. Methods based on the displacement modes may fail to accurately locate the slight damage because the slight damage in engineering structure results in a relatively small variation of the displacement modes. In comparison with the displacement modes, the strain modes are more sensitive to the slight damage because the strain is the derivative of the displacement. As a result, the slight variation in displacement data will be magnified by the derivative, leading to a significant variation of the strain modes. A novel method based on strain modes is proposed for the purpose of accurately locating the multiple slight damage.

In the two bay beam and steel fixed-fixed beams, the numerical simulations and the experimental cases, respectively, illustrate that the proposed method can achieve more accurate localization in comparison with the one based on the displacement modes.

The paper offers a practical approach for more accurate localization of multiple slight damage without baseline data. And the robustness to measurement noise of the proposed method is evaluated for increasing levels of artificially added white Gaussian noise until its limit is reached, defining its range of practical applicability.

Robot localization technology has been widely studied for decades and a lot of remarkable approaches have been developed. However, in practice, this technology has hardly been applied to common day-to-day deployment scenarios. The purpose of this paper is to present a novel approach that focuses on improving the localization robustness in complicated environment.

The localization robustness is improved by dynamically switching the localization components (such as the environmental camera, the laser range finder and the depth camera). As the components are highly heterogeneous, they are developed under the robotic technology component (RTC) framework. This simplifies the developing process by increasing the potential for reusability and future expansion. To realize this switching, the localization reliability for each component is modeled, and a configuration method for dynamically selecting dependable components at run-time is presented.

The experimental results show that this approach significantly decreases robot lost situation in the complicated environment. The robustness is further enhanced through the cooperation of heterogeneous localization components.

A multi-component automatic switching approach for robot localization system is developed and described in this paper. The reliability of this system is proved to be a substantial improvement over single-component localization techniques.

Acoustic signals of the underwater targets are susceptible to noise, reverberation, submarine topography and biology, therefore it is difficult to precisely locate underwater targets. This paper proposes a new underwater Hanbury Brown-Twiss (HBT) interference passive localization method. This study aims to achieve precise location of the underwater acoustic targets.

The principle of HBT interference with ultrasensitive detection characteristics in optical measurements was introduced in the field of hydroacoustics. The coherence of the underwater target signal was analyzed using the HBT interference measurement principle, and the corresponding relationship between the signal coherence and target position was obtained. Consequently, an HBT interference localization model was established, and its validity was verified through simulations and experiments.

The effects of different array structures on the localization performance were obtained by simulation analysis, and the simulations confirmed that the HBT method exhibited a higher positioning accuracy than conventional beamforming. In addition, the experimental analysis demonstrated the excellent positioning performance of the HBT method, which verified the feasibility of the proposed method.

This study provides a new method for the passive localization of underwater targets, which may be widely used in the field of oceanic explorations.

This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments.

Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach.

The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

In this paper, an experimental apparatus was designed and subsequent theoretical analysis and simulations were conducted on the effectiveness and advantages of a novel laser beam scan localization (BLS) system.

The system used a moving location assistant (LA) with a laser beam, through which the deployed area was scanned. The laser beam sent identity documents (IDs) to unknown nodes to obtain the sensor locations.

The results showed that the system yielded significant benefits compared with other localization methods, and a high localization accuracy could be achieved without the aid of expensive hardware on the sensor nodes. Furthermore, four positioning mode features in this localization system were realized and compared.

In this paper, an experimental apparatus was designed and subsequent theoretical analysis and simulations were conducted on the effectiveness and advantages of a novel laser BLS system. The system used a moving LA with a laser beam, through which the deployed area was scanned. The laser beam sent IDs to unknown nodes to obtain the sensor locations.