Grid-Based Belief Propagation

This paper considers the problem of decentralized, cooperative, and dynamic self-localization in wireless sensor networks. In particular, we are interested in a restrictive but very realistic scenario where few anchors are deployed and each anchor whose location is priori known may only communicate with very few agents (e.g. just one agent) whose location is unknown and to-be-estimated. The lack of agent-to-anchor communication links renders slow estimation convergence thereby demanding more message exchanges among the nodes i.e. agent-to-agent and agent-to-anchor. This urges us to propose an efficient localization method that needs less iterations (i.e. less message exchanges) to achieve a certain accuracy.