Network localization by Shadow Edges

Localization is a fundamental task for sensor networks. Traditional network localization approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), i.e., the communication graph needs to be globally rigid. In this paper we exploit, besides the information on the neighbors sensed by each robot/sensor, also the information about the lack of communication among nodes. The result is a framework where the nodes need to be at least bi-connected and the communication graph has to be rigid. This is possible considering a novel typology of link, namely Shadow Edge, that accounts for the lack of communication among nodes and allows to reduce the uncertainty associated to the position of the nodes.