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.