Cooperate localization of a Wireless Sensor Network (WSN) aided by a mobile robot

Localization is an essential problem for application of Wireless Sensor Network (WSN). We introduce a mobile robot to localize the sensor nodes in cooperative way. Specifically, we consider sensors would provide range measurements between themselves. The localization strategy was set to be a mixed form of centralized and distributed manner considering the character of robot and WSN. The algorithm can efficiently fuse multiple measurements of the system to form conservative covariance estimates and avoid over-confident problem properly. The algorithm was described in a Bayes framework and proved to be efficient in simulation result.