Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version



Copyright 2004 IEEE. Reprinted from IEEE Wireless Communications, Volume 11, Issue 6, December 2004, pages 87-96.

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We have implemented a system of tracking mobile robots and mapping an unstructured environment, using up to 25 wireless sensor nodes in an indoor setting. These sensor nodes form an ad hoc network of beacons, self-localize with respect to three anchor nodes, and then track the locations of mobile robots in the field. The system described here was motivated by search and rescue applications, and has been demonstrated in real physical environments.



Date Posted: 11 August 2005

This document has been peer reviewed.