Improving sensor network localization accuracy via mobility

In this work the Network Localization Problem with noisy measurements and mobility is considered. In particular, we first focus on the discovery of the localizable subnetwork by introducing an iterative approach to detect and merge small localizable components. Furthermore, we propose a novel check to mitigate the risk of flips ambiguities in order to enlarge the aforementioned subnetwork. Successively, we introduce the concept of critical node, and adopt an iterative localization scheme to retrieve information about the relevance of a node. This allows us to investigate how the accuracy of the localization process can be improved by the aid of mobility, i.e., critical nodes which are relevant for the localization of the network can be localized by means of mobile nodes. Simulations are provided to show the effectiveness of the proposed approach.