Exploration with massive sensor swarms

In this paper algorithms for wireless sensor networks (WSN) localization and tracking are presented. They are optimized for the exploration of inaccessible environments with unknown shape and dynamics. The algorithms are based on semidefinite programming (SDP) and unscented Kalman filtering (UKF). The SDP approach is derived from a recent solution for WSN localization with anchor node uncertainty, but has been formulated iteratively and allows, therefore, the utilization of massive sensors swarms, which has not been investigates so far.

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