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Localization of the mobile agent using indirect Kalman filter in distributed sensor networks

Published: 15 February 2009 Publication History

Abstract

This paper proposes a localization algorithm for mobile agents in sensor networks using the data fusion method based on indirect Kalman filter. The fusion method of an inertial navigation sensor and sensor nodes data is used to acquire the correct position information. Since indirect Kalman filter is used for estimation of the mobile agent position, the position of the mobile agent can be estimated even when the sensor node cannot work or data acquired from the network are not reliable. Because measurement errors are used for estimation, its implementation is easy. Finally, a sequence of simulations is carried out to confirm the performance of the proposed localization algorithm.

References

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Kim, C. Ng, Ishiguro, H. Trivedi, M. and Sogo, T. 1999. Monitoring dynamically changing environments by ubiquitous vision system. Proc. Visual Surveillance 1999. pp. 67~73.
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Hwang, C.-L. and Chang, N.-W. 2008. Fuzzy decentralized sliding-mode control of a car-like mobile robot in distributed sensor-network spaces. IEEE Trans. on Fuzzy Systems. Vol. 16. No. 1. pp. 97~109
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Brooks, R. R. Ramanathan, P. Sayeed, A. M. 2001. Distributed target classification and tracking in sensor networks. Proceedings of the IEEE. Vol. 91. Issue. 8. pp. 1163~1171.
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Marigo, A. and Piccoli, B. 2004. Safety controls and applications to the Dubin's car. Nonlinear Differential Equations and Applications. Vol. 11. No. 1. pp. 73~94
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Ishiguro, H. 1997. Distributed vision system: A perceptual information infrastructure for robot navigation. Proc. International Joint Conferences on Artificial Intelligence. pp. 36--41.
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Ukita, N. and Matsuyama, T. 2002. Real-time cooperative multi-target tracking by communicating active vision agents. Proc. Int. Conf. on Pattern Recognition. pp. II 14--19.

Cited By

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  • (2015)Cooperative Environment Scans Based on a Multi-Robot SystemSensors10.3390/s15030648315:3(6483-6496)Online publication date: 17-Mar-2015
  • (2011)Efficient Color-theory-based Dynamic Localization for Mobile Wireless Sensor NetworksWireless Personal Communications: An International Journal10.1007/s11277-010-9923-959:2(375-396)Online publication date: 1-Jul-2011

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      cover image ACM Conferences
      ICUIMC '09: Proceedings of the 3rd International Conference on Ubiquitous Information Management and Communication
      February 2009
      704 pages
      ISBN:9781605584058
      DOI:10.1145/1516241
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      Publication History

      Published: 15 February 2009

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      Author Tags

      1. distributed sensor networks
      2. indirect Kalman filter
      3. localization
      4. mobile agent

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      View all
      • (2015)Cooperative Environment Scans Based on a Multi-Robot SystemSensors10.3390/s15030648315:3(6483-6496)Online publication date: 17-Mar-2015
      • (2011)Efficient Color-theory-based Dynamic Localization for Mobile Wireless Sensor NetworksWireless Personal Communications: An International Journal10.1007/s11277-010-9923-959:2(375-396)Online publication date: 1-Jul-2011

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