IRIS-00-393

Localizing a Wireless Node in a Multi-Agent System Using Kalman Filtering

Puneet Goel and Gaurav S. Sukhatme

Kalman Filtering has been successfully applied to various state estimation problems in mobile robotics. This paper presents the application of Kalman Filtering to a scenario where the measurements do not come as a time series. There is also no readily available estimation matrix for the system. The advantages and limitations of using Kalman Filtering in such a scenario are discussed. The work describes a strategy for position estimation of a wireless node (e.g. a mobile robot or any other portable device) while using only the line-of-sight distance estimates from the node to other nodes in its environment.