An Off-line Algorithm to Estimate Trajectories of Mobile Nodes Using Ad-hoc Communication (concise contribution)

In this paper, we propose an off-line algorithm called TRACKIE to estimate trajectories of mobile nodes based on encounter information. This method only assumes reasonable number of landmarks and ad-hoc wireless communication facility of mobile nodes, and does not rely on multi-hop ad-hoc networks nor global positioning system. The method achieves low-cost estimation of trajectories and provides accurate solution (the average estimation error was less than 40% of the wireless range in simulations). We have evaluated TRACKIE with Micaz Mote and shown that estimation error is about 2 m in real environments where wireless range is about 3 m.