NDLI: Nonparametric belief propagation for self-localization of sensor networks

Content Provider	IEEE Xplore Digital Library
Author	Ihler, A.T. Fisher III, J.W. Moses, R.L. Willsky, A.S.
Copyright Year	1983
Abstract	Automatic self-localization is a critical need for the effective use of ad hoc sensor networks in military or civilian applications. In general, self-localization involves the combination of absolute location information (e.g., from a global positioning system) with relative calibration information (e.g., distance measurements between sensors) over regions of the network. Furthermore, it is generally desirable to distribute the computational burden across the network and minimize the amount of intersensor communication. We demonstrate that the information used for sensor localization is fundamentally local with regard to the network topology and use this observation to reformulate the problem within a graphical model framework. We then present and demonstrate the utility of nonparametric belief propagation (NBP), a recent generalization of particle filtering, for both estimating sensor locations and representing location uncertainties. NBP has the advantage that it is easily implemented in a distributed fashion, admits a wide variety of statistical models, and can represent multimodal uncertainty. Using simulations of small to moderately sized sensor networks, we show that NBP may be made robust to outlier measurement errors by a simple model augmentation, and that judicious message construction can result in better estimates. Furthermore, we provide an analysis of NBP's communications requirements, showing that typically only a few messages per sensor are required, and that even low bit-rate approximations of these messages can be used with little or no performance impact.
Starting Page	809
Ending Page	819
Page Count	11
File Size	711200
File Format	PDF
ISSN	07338716
Volume Number	23
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Belief propagation Military computing Calibration Distance measurement Sensor systems Computer networks Distributed computing Network topology Graphical models Filtering sensor network Algorithms calibration distributed estimation localization message passing
Content Type	Text
Resource Type	Article
Subject	Computer Networks and Communications Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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