Improving the Robustness of Distributed Range-Based Localisation Algorithms

Localisation algorithms are of key importance to Wireless Sensor Networks, because they provide the information required to join the data sensed by each sensor. Protocol, application security and data integrity is paramount for these networks that monitor critical infrastructures. However, current range-based distributed localisation algorithms are very sensible to faulty behaviour. A single faulty node may prevent every other node to know its position and everyone else position. In this work we show how to modify range-based distributed localisation algorithms in order to improve its resilience to faulty behaviour. We also conclude that the resilience cannot be improved further, with current algorithms, without changing the density of the network.