Cooperative Localization of Mobile Networks Via Velocity-Assisted Multidimensional Scaling

This paper considers the problem of cooperative localization in mobile networks. In static networks, node locations can be obtained from pairwise distance measurements using the classical multidimensional scaling (MDS) approach. This paper introduces a modified MDS framework that also incorporates relative velocity measurements if available in mobile networks. The proposed cost function is minimized via a low complexity majorization algorithm. A distributed variant of the proposed algorithm is also outlined for use in large resource-constrained multi-hop networks. The proposed algorithm incurs low computational and communication cost, and handles practical constraints such as missing measurements and variable node velocities. Simulation results corroborate the performance gains obtained by the proposed algorithm over state-of-the-art localization algorithms.