DiscoveryTree: Relative localization based on multi-hop BLE beacons

Device localization is a common issue on connected objects and persons. Relative localization is a particular case where one don't care about an absolute position, but about knowing how far and in which direction an object is from a reference point in an approximate manner. This work makes part of a larger project which aims to track groups of children for preventing hazards. In this paper we present a relative localization system in the form of a distributed multi-hop routing algorithm deployed on a set of wearable Bluetooth Low Energy devices. This paper introduces the distributive algorithm, describes its implementation, and presents performance results which permit to validate the approach and identify the system limitations.