Cooperative localization with 802.15.4a CSS radios: Robustness to node failures

Cooperative positioning is a solution for location-aware applications where GPS-aided localization is unfeasible. In this paper, we provide a qualitative comparison between cooperative and non-cooperative localization under node-failure scenarios, in a typical indoor environment using off-the-shelf 802.15.4a radios. From our analysis, we observe the improved robustness and coverage offered by the cooperative approach in node-failure scenarios.