FORMAL THEORY OF NOISY SENSOR NETWORK LOCALIZATION

Abstract

Graph theory has been used to characterize the solvability of the sensor network localization problem. If sensors correspond to vertices and edges correspond to sensor pairs between which the distance is known, a significant result in the theory of range-based sensor network localization is that if the graph underlying the sensor network is generically globally rigid and there is a suitable set of anchors at known positions, then the network can be localized, i.e., a unique set of sensor positions can be determined that is consistent with the data. In particular, for planar problems, provided the sensor network has three or more noncollinear anchors at known points, all sensors are located a..