Iterative localization optimization for networked mobile robots

In an ad-hoc wireless network with mobile nodes, we consider communication links, which are not only used for data transfer, but which also are have the capability of link-length-measurements. We propose a method for localizing the whole network without the need of any anchor or a priori reference information. In other words, the network uses itself as an infrastructure for localization. It is shown how the infrastructure can dynamically move to build a larger covered area and minimize the positioning error. For a considerable population of nodes, it matters how proper constrains are utilized to efficiently keep the nodes within the communication range, as well as a robustly bounding the accumulative positioning error. In other words, the strategy is desired to be able to afford nodes´ movements drawbacks. Extensive amount of simulations with promising results are analytically presented here, to evaluate the performance and robustness of the proposed algorithm against environmental noise and positioning inaccuracy.