A flying robot is localized using ultrasonic sensor network distributed on the ground. This requires localization of sensor nodes first. In absence of RF link between target and sensors, weighted Multi-Dimensional Scaling (MDS) with Gradient Descent is used to localize the sensors from outlier free data obtained from generating a locally linear manifold. After initialization, an Extended Kalman...

Target tracking and localization are important applications in wireless sensor networks. In these applications, sensor nodes collectively monitor and track the movement of a target. They have limited energy supplied by batteries, so energy efficiency is essential for sensor networks. Most existing target tracking protocols need to wake up sensors periodically to perform tracking. Some unnecessa...