Trackingwith binary sensors

We present a novel approach to the tracking of piecewise linear trajectories using a network of cheap “binary sensors” i.e. devices that can only detect whether an object is in their sensing range. We show that an object traveling on almost all straight lines, even with an unknown speed, can be tracked by generically placed three binary sensors whose sensing ranges need not intersect with each other, but do intersect the trajectory. We then discuss the implication of these results to pice-wise linear trajectories with potentially unknown speeds. We also present efficient algorithms that simulations and theory verify, achieve good tracking performance, and robustness to sensing errors.