An integrated framework for simultaneous robot and sensor network localization

Localization has been recognised as one of the most significant problems in mobile robotics. A robot must have a knowledge of its position in an environment in order to correctly perform almost any task. Moreover, having accurate information about the nodes positions turns out to be substantial in a sensor network context. In fact, several middle-ware services often rely on location knowledge to properly operate. In this paper, an overall scenario in which a robot is moving within a collaborative sensor network is considered. The aim is to provide an unified framework in which the robot can localise itself gathering information coming from the network, while nodes simultaneously try to find out their location. Simulation are provided in order to validate the effectiveness of the proposed framework.