Mapping swarms of resource-limited sensor motes: Solely using distance measurements and non-unique identifiers

This work is on 3-D localization of sensor motes in massive swarms based solely on 1-D relative distance-measurements between neighbouring motes. We target applications in remote and difficult-to-access environments such as the exploration and mapping of the interior of oil reservoirs where hundreds or thousands of motes are used. These applications bring forward the need to use highly miniaturized sensor motes of less than 1 centimeter, thereby significantly limiting measurement and processing capabilities. These constraints, in combination with additional limitations posed by the environments, impede the communication of unique hardware identifiers, as well as communication with external, fixed beacons.

[1]  Gerd Ascheid,et al.  A Novel Low-Complexity Numerical Localization Method for Dynamic Wireless Sensor Networks , 2015, IEEE Transactions on Signal Processing.

[2]  Heinrich J. Wörtche,et al.  Micro Motes: A Highly Penetrating Probe for Inaccessible Environments , 2015 .

[3]  Moe Z. Win,et al.  Ranging With Ultrawide Bandwidth Signals in Multipath Environments , 2009, Proceedings of the IEEE.

[4]  Wolfram Burgard,et al.  Mapping and localization with RFID technology , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[5]  Takahiro Hara,et al.  Localization algorithms of Wireless Sensor Networks: a survey , 2011, Telecommunication Systems.

[6]  Sanjiv Singh,et al.  Range-only SLAM for robots operating cooperatively with sensor networks , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[7]  T. J. Carlson,et al.  An injectable acoustic transmitter for juvenile salmon , 2015, Scientific Reports.

[8]  Gerd Ascheid,et al.  A dynamic programming algorithm for resolving transmit-ambiguities in the localization of WSN , 2016, 2016 Mediterranean Ad Hoc Networking Workshop (Med-Hoc-Net).

[9]  Moe Z. Win,et al.  Cooperative Localization in Wireless Networks , 2009, Proceedings of the IEEE.

[10]  Heinrich J. Wörtche,et al.  Robust sensor cloud localization from range measurements , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Dario Pompili,et al.  Underwater acoustic sensor networks: research challenges , 2005, Ad Hoc Networks.

[12]  Heinrich J. Wörtche,et al.  Asymmetric Multi-way Ranging for Resource-Limited Nodes , 2016, ADHOCNETS.

[13]  Emanuele Menegatti,et al.  Range-only SLAM with a mobile robot and a Wireless Sensor Networks , 2009, 2009 IEEE International Conference on Robotics and Automation.

[14]  James McLurkin,et al.  Distributed Algorithms for Dispersion in Indoor Environments Using a Swarm of Autonomous Mobile Robots , 2004, DARS.

[15]  Paolo Gaudiano,et al.  Distributed Localization and Mapping with a Robotic Swarm , 2004, Swarm Robotics.

[16]  Giuseppe Oriolo,et al.  Mutual localization in multi-robot systems using anonymous relative measurements , 2013, Int. J. Robotics Res..

[17]  Wolfram Burgard,et al.  G2o: A general framework for graph optimization , 2011, 2011 IEEE International Conference on Robotics and Automation.

[18]  H. T. Mouftah,et al.  Localization techniques for underwater acoustic sensor networks , 2010, IEEE Communications Magazine.

[19]  Gerd Ascheid,et al.  Localization of wireless sensor networks with concurrently used identification sequences , 2015, 2015 14th Annual Mediterranean Ad Hoc Networking Workshop (MED-HOC-NET).

[20]  Libertario Demi,et al.  Environment mapping and localization with an uncontrolled swarm of ultrasound sensor motes , 2013 .