This thesis concerns the problem of localizing the nodes of a WSN using only RSSI range measurements from an autonomous mobile robot. Framing it as a SLAM problem, state of the art techniques such as the Unscented Kalman Filter and GMM undelayed initialization are joined in a single context. Moreover, different path planning strategies for optimal information/energy expenditure ratio are developed and compared simulationally.

RUUMBA: a Range-only, Unscented, Undelayed, Mobile Beacon-Assisted framework for WSN discovery and localization

Fauri, Davide
2013/2014

Abstract

This thesis concerns the problem of localizing the nodes of a WSN using only RSSI range measurements from an autonomous mobile robot. Framing it as a SLAM problem, state of the art techniques such as the Unscented Kalman Filter and GMM undelayed initialization are joined in a single context. Moreover, different path planning strategies for optimal information/energy expenditure ratio are developed and compared simulationally.
2013-07-16
Unscented Kalman Filter, SLAM, WSN localization, undelayed initialization, informative path planning
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12608/16775