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Previous work has shown this problem to suffer from false minima, mesh folding, slow convergence, and sensitivity to initial position estimates. Here, we present a localization system that combines a technique known as spectral graph drawing (SGD) for initializing node position estimates and a standard mesh relaxation (MR) algorithm for converging to finer accuracy. We describe our combined localization system in detail and build on previous work by testing these techniques with real 40-kHz ultrasound time-of-flight range data collected from 58 nodes in the Pushpin Computing network, a dense hardware testbed spread over an area of one square meter. In this paper, we discuss convergence characteristics, accuracy, distributability, and the robustness of this localization system.<\/jats:p>","DOI":"10.1145\/1119759.1119760","type":"journal-article","created":{"date-parts":[[2007,1,17]],"date-time":"2007-01-17T18:32:02Z","timestamp":1169058722000},"page":"1-12","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":17,"title":["Localization on the pushpin computing sensor network using spectral graph drawing and mesh relaxation"],"prefix":"10.1145","volume":"10","author":[{"given":"Michael","family":"Broxton","sequence":"first","affiliation":[{"name":"MIT Media Lab, Cambridge, MA"}]},{"given":"Joshua","family":"Lifton","sequence":"additional","affiliation":[{"name":"MIT Media Lab, Cambridge, MA"}]},{"given":"Joseph A.","family":"Paradiso","sequence":"additional","affiliation":[{"name":"MIT Media Lab, Cambridge, MA"}]}],"member":"320","published-online":{"date-parts":[[2006,1]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/984622.984630"},{"key":"e_1_2_1_2_1","volume-title":"EECS Department","author":"Broxton M.","year":"2005","unstructured":"M. Broxton . Localization and sensing applications in the pushpin computing network. Master's thesis , EECS Department , Massachusetts Institute of Technology , 2005 . M. Broxton. Localization and sensing applications in the pushpin computing network. Master's thesis, EECS Department, Massachusetts Institute of Technology, 2005."},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/EWSN.2005.1462024"},{"key":"e_1_2_1_4_1","volume-title":"Grace Hopper Celebration ofWomen in Computing Conference","author":"Bulusu N.","year":"2002","unstructured":"N. Bulusu , V. Bychkovskiy , D. Estrin , and J. Heidemann . Scalable, ad hoc deployable rf-based localization . In Grace Hopper Celebration ofWomen in Computing Conference , Vancouver, British Columbia, Canada. , October 2002 . N. Bulusu, V. Bychkovskiy, D. Estrin, and J. Heidemann. Scalable, ad hoc deployable rf-based localization. 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