A Distributed Message Passing Algorithm for Sensor Localization

Max Welling, Joseph J. Lim

Abstract: We propose a fully distributed message passing algorithm based on expectation propagation for the purpose of sensor localization. Sensors perform noisy measurements of their mutual distances and their relative angles. These measurements form the basis for an iterative, local (i.e. distributed) algorithm to compute the sensor’s locations including uncertainties for these estimates. This approach offers a distributed, computationally efficient and flexible framework for information fusion in sensor networks.