Optimal Sensor Placement for Agent Localization

@article{Jourdan2003OptimalSP,
  title={Optimal Sensor Placement for Agent Localization},
  author={Damien B. Jourdan and Nicholas Roy},
  journal={2006 IEEE/ION Position, Location, And Navigation Symposium},
  year={2003},
  pages={128-139}
}
In this article we consider deploying a sensor network to help an agent navigate in an area. In particular the agent uses range measurements to the sensors to localize itself. We wish to place the sensors in order to provide optimal localization accuracy to the agent. We begin by considering the problem of placing sensors in order to optimally localize the agent at a single location. The Position Error Bound (PEB), a lower bound on the localization accuracy, is used to measure the quality of… CONTINUE READING
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