Node Deployment under Position Uncertainty for Network Localization

Network localization performance depends on the network geometry and, therefore, node deployment methods are critical for high-accuracy localization. Optimal node deployment is challenging in practical problems due to various uncertainties present in the position knowledge of the deployed nodes. In this paper, we propose a node-deployment method for network localization that accounts for such uncertainties. We develop a framework for the optimal deployment of location-aware networks under bounded disturbances in the positions of the sensing nodes. More specifically, by considering bounded discrepancies in the network geometry, we characterize the optimal deployment according to the D-optimality criterion and assert its implications for the A-optimality and E-optimality criteria. Results show that the proposed optimization-based design achieves a significative improvement according to the D-optimality criterion.