Cooperative localization in mobile networks using nonparametric variants of belief propagation

Author: Vladimir Savic, Santiago Zazo

Abstract:
Of the many state-of-the-art methods for cooperative localization in wireless sensor networks (WSNs), only very few adapt well to mobile networks. The main problems of the well-known algorithms, based on nonparametric belief propagation (NBP), are the high communication cost and inefficient sampling techniques. Moreover, they either do not use smoothing or just apply it offline. Therefore, in this article, we propose more flexible and efficient variants of NBP for cooperative localization in mobile networks. In particular, we provide: (i) an optional 1-lag smoothing done almost in real-time, (ii) a novel low-cost communication protocol based on package approximation and censoring, (iii) higher robustness of the standard mixture importance sampling (MIS) technique, and (iv) a higher amount of information in the importance densities by using the population Monte Carlo (PMC) approach, or an auxiliary variable. Through extensive simulations, we confirmed that all the proposed techniques outperform the standard NBP method.

Keywords:
Cooperative localization
Mobile networks
Belief propagation
Particle filter
Smoothing
Message approximation
Population Monte Carlo

Published in: Ad Hoc Networks (Volume 11, Issue 1, January 2013)

Publisher: Elsevier

ISSN Information: 1570-8705

Cooperative localization in mobile networks using nonparametric variants of belief propagation

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