Position estimation of distributed sensor node robots by their communication connectivity

In this paper, we investigate the accuracy of position estimation of distributed sensor nodes. The method of the estimation is calculated by communication connectivity statuses of local communication between the nodes. Actual positions of the nodes are unknown. A host computer, which can collect all of the connectivity conditions of the network, iteratively calculate the estimated positions to be less error of the communication connectivity between actual positions and estimated positions. We carried out the simulation studies with respect to spatial size of the distribution, density of the sensor nodes and dynamical distribution with moving and changing of the sensor positions.