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We propose a non-persistent localization system using a self-organizing reference grid of autonomous robot systems. The key idea is to continuously maintain accurate relative positions between the robots using an enhanced mass spring relaxation model. The robots estimate distances between neighboring systems using an ultrasonic system, measuring both the time of flight based distance and the angle between the systems. The algorithm then adapts the local position of the robot in the grid according to its neighbors. We developed a mass spring relaxation model allowing to maintain a completely self-organizing reference grid. In mass spring, newly arriving nodes can introduce oscillations and self-localization might fail or take a long time to converge. Therefore, we first use the available grid to localize the arriving system with reference to the grid before including the robot as a new reference point. Misplaced nodes are detected and corrected by our enhancements. In turn, the grid is able to provide accurate localization services, e.g. for flying robots.

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Author image not provided  Juergen Eckert

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Publication years2010-2016
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Author image not provided  Felix Villanueva

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Publication years2006-2016
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Author image not provided  Reinhard German

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Falko Dressler Falko Dressler

Distributed Embedded Systems, University of Paderborn
fdatacm.org
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Publication years2006-2017
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top of pageREFERENCES

Note: OCR errors may be found in this Reference List extracted from the full text article. ACM has opted to expose the complete List rather than only correct and linked references.

 
1
N. B. Priyantha, H. Balakrishnan, E. D. Demaine, and S. Teller, "Mobile-Assisted Localization in Wireless Sensor Networks," in IEEE INFOCOM 2005, Miami, FL, March 2005.
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J. Eckert, K. Koeker, P. Caliebe, F. Dressler, and R. German, "Self-localization Capable Mobile Sensor Nodes," in IEEE TePRA 2009, Woburn, MA, November 2009, pp. 224--229.
 
6
J. Eckert, F. Dressler, and R. German, "Real-time Indoor Localization Support for Four-rotor Flying Robots using Sensor Nodes," in IEEE ROSE 2009, Lecco, Italy, November 2009, pp. 23--28.

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Title ACM SIGMOBILE Mobile Computing and Communications Review table of contents archive
Volume 14 Issue 3, July 2010
Pages 4-6
Publication Date2010-12-27 (yyyy-mm-dd)
Sponsor SIGMOBILE ACM Special Interest Group on Mobility of Systems, Users, Data and Computing
PublisherACM New York, NY, USA
ISSN: 1559-1662 EISSN: 1931-1222 doi>10.1145/1923641.1923644

APPEARS IN
Applications
Hardware Design
Networking

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top of pageTable of Contents

ACM SIGMOBILE Mobile Computing and Communications Review

Volume 14 Issue 3, July 2010

Table of Contents
POSTER SESSION: ACM MobiCom 2010 posters -- part I
A cross-layer reliability metric for wireless mesh networks with selfish participants
Stefano Paris, Antonio Capone, Cristina Nita-Rotaru, Fabio Martignon
Pages: 1-3
doi>10.1145/1923641.1923643
Full text: PDFPDF
A self-organizing localization reference grid
Juergen Eckert, Felix Villanueva, Reinhard German, Falko Dressler
Pages: 4-6
doi>10.1145/1923641.1923644
Full text: PDFPDF

We propose a non-persistent localization system using a self-organizing reference grid of autonomous robot systems. The key idea is to continuously maintain accurate relative positions between the robots using an enhanced mass spring relaxation model. ...
expand
A social community based approach for reducing the propagation of infectious diseases in healthcare
Jie Yang, Yanzhi Ren, Yingying Chen, Mooi Choo Chuah
Pages: 7-9
doi>10.1145/1923641.1923645
Full text: PDFPDF

In this work, we investigate the feasibility and effectiveness of using human contact traces collected from mobile phones to derive social community information to reduce the disease propagation rate in the healthcare domain. Our trace-driven simulation ...
expand
Analyzing mobility evolution in WLAN users: how predictable are we?
Jeeyoung Kim, Ahmed Helmy
Pages: 10-12
doi>10.1145/1923641.1923646
Full text: PDFPDF
Arbitrary street density distributions for modeling mobility in urban scenarios
Nils Aschenbruck, Alexander Bothe, Matthias Schwamborn
Pages: 13-15
doi>10.1145/1923641.1923647
Full text: PDFPDF

When modeling mobility in urban scenarios, uniform distributions of the destinations can only be realized when geographic restrictions are considered. We present a straight-forward approach using maps (such as OpenStreetMap (OSM)) to get the desired ...
expand
BeamAdapt: energy efficient beamsteering on mobile devices
Hang Yu, Lin Zhong, Ashutosh Sabharwal
Pages: 16-18
doi>10.1145/1923641.1923648
Full text: PDFPDF

All current mobile devices are omni directional in transmission, which not only limits device energy efficiency but also poses a significant challenge toward network capacity through inter-link interference. In this work, we make mobile devices directional ...
expand
Caché: caching location-enhanced content to improve user privacy
Shahriyar Amini, Janne Lindqvist, Jason I. Hong, Maladau Mou, Rahul Raheja, Jialiu Lin, Norman Sadeh, Eran Tochb
Pages: 19-21
doi>10.1145/1923641.1923649
Full text: PDFPDF

Location-enhanced content while useful for mobile users can also be harmful for their privacy. We present feasibility analysis and preliminary evaluation of Caché, an approach for preserving mobile users' privacy by caching location-enhanced content ...
expand
Capacity and delay in mobile ad hoc networks under Gaussian channel model
Cheng Wang, Xiang-Yang Li, Shaojie Tang, Changjun Jiang, Yunhao Liu
Pages: 22-24
doi>10.1145/1923641.1923650
Full text: PDFPDF

We study the asymptotic delay and throughput in mobile ad hoc networks where η ad hoc nodes are distributed uniformly on a 2-D square (torus) region of area η. The communications between nodes are characterized by Gaussian Channel model, instead ...
expand
CMAC-ORS: a cooperative MAC protocol with on-demand relay selection for wireless LANs
Soungwoo Kim, Heejun Roh, Wonjun Lee
Pages: 25-27
doi>10.1145/1923641.1923651
Full text: PDFPDF

In recent years, several studies have attempted to find and explore MAC protocols for supporting cooperative communication to improve reliability and throughput in wireless networks. The performance of these MAC protocols depends on how to select relay ...
expand
Cognitive relay protocol: design, implementation and evaluation
Chun-Ta Kung, Ko-Wei Ma, Hung-Yu Wei
Pages: 28-30
doi>10.1145/1923641.1923652
Full text: PDFPDF

In this paper, we design and implement a cognitive relay protocol (CogRelay) in MAC layer to efficiently relay data packets. The proposed scheme chooses high quality relay links to prevent unnecessary relay, thereby enhancing relay efficiency and acquiring ...
expand
Congestion aware data dissemination in social opportunistic networks
Milena Radenkovic, Andrew Grundy
Pages: 31-33
doi>10.1145/1923641.1923653
Full text: PDFPDF

This paper describes the design, development and evaluation an interest driven overlay on the top of our congestion aware forwarding protocol (CAFe) for social opportunistic networks. We show that P2P filecasting on top of Cafe achieves high success ...
expand
Coward attacks in vehicular networks
Bisheng Liu, Jerry T. Chiang, Jason J. Haas, Yih-Chun Hu
Pages: 34-36
doi>10.1145/1923641.1923654
Full text: PDFPDF
DataSpotting: offloading cellular traffic via managed device-to-device data transfer at data spots
Xuan Bao, Uichin Lee, Ivica Rimac, Romit R. Choudhury
Pages: 37-39
doi>10.1145/1923641.1923655
Full text: PDFPDF

Mobile broadband demand keeps growing at an overwhelming pace. Though emerging wireless technologies will provide more bandwidth, the increase in demand may easily consume the extra bandwidth. To alleviate this problem, we propose using the content available ...
expand
Design and implementation of backpressure scheduling in wireless multi-hop networks: from theory to practice
Rafael Laufer, Theodoros Salonidis, Henrik Lundgren, Pascal Le Guyadec
Pages: 40-42
doi>10.1145/1923641.1923656
Full text: PDFPDF
Dynamic channel reservations for wireless multihop communications
Jun Yi, Christian Poellabauer, Xiaobo Sharon Hu, Thidapat Chantem, Liqiang Zhang
Pages: 43-45
doi>10.1145/1923641.1923657
Full text: PDFPDF

Providing real-time service in an energy efficient manner in wireless multihop networks is an important and challenging problem. However, existing medium access control schemes are either over-coordinated (fixed-schedule-based schemes) or under-coordinated ...
expand
Elevator as a mobile sink for high-rise structure monitoring
Feng Wang, Dan Wang, Jiangchuan Liu
Pages: 46-48
doi>10.1145/1923641.1923658
Full text: PDFPDF
Exploiting routing redundancy using MAC layer anycast to improve delay in WSN
Farhana Ashref, Robin H. Kravets, Nitin H. Vaidya
Pages: 49-51
doi>10.1145/1923641.1923659
Full text: PDFPDF

Source-destination pairs in wireless sensor networks often have multiple shortest hop paths because the nodes are densely deployed. These multiple paths provide a great opportunity to reduce delay in an asynchronous duty-cycled network. In this paper, ...
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Centralized flow coordination for proportional fairness in enterprise wireless mesh networks
Jae-Yong Yoo, Jong Won Kim
Pages: 52-54
doi>10.1145/1923641.1923660
Full text: PDFPDF

IEEE 802.11-based Enterprise WMNs (Wireless Mesh Networks) is one of possible practical extensions of WMNs. However, the wide adoption of Enterprise WMNs is limited by the flow unfairness problem due to the complicated interference relationship between ...
expand

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