{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:30:16Z","timestamp":1750307416224,"version":"3.41.0"},"reference-count":46,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2010,8,1]],"date-time":"2010-08-01T00:00:00Z","timestamp":1280620800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000183","name":"Army Research Office","doi-asserted-by":"publisher","award":["W911NF-06-1-0076"],"award-info":[{"award-number":["W911NF-06-1-0076"]}],"id":[{"id":"10.13039\/100000183","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000144","name":"Division of Computer and Network Systems","doi-asserted-by":"publisher","award":["CNS-0347440","CNS-0721604"],"award-info":[{"award-number":["CNS-0347440","CNS-0721604"]}],"id":[{"id":"10.13039\/100000144","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Sen. Netw."],"published-print":{"date-parts":[[2010,8]]},"abstract":"<jats:p>Mobile wireless sensors require position updates for tracking and navigation. We present a localization technique that uses the Doppler shift in radio transmission frequency observed by stationary sensors. We consider two scenarios. In the first, the mobile node is carried by a person. In the second, the mobile node controls a robot. In both approaches the mobile node transmits an RF signal, and infrastructure nodes measure the Doppler-shifted frequency. Such measurements enable us to calculate the position and velocity of the mobile transmitter. Our experimental results demonstrate that this technique is viable and accurate for resource-constrained mobile sensor tracking and navigation.<\/jats:p>","DOI":"10.1145\/1806895.1806896","type":"journal-article","created":{"date-parts":[[2010,8,17]],"date-time":"2010-08-17T12:19:29Z","timestamp":1282047569000},"page":"1-32","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":11,"title":["RF doppler shift-based mobile sensor tracking and navigation"],"prefix":"10.1145","volume":"7","author":[{"given":"Branislav","family":"Kus\u00fd","sequence":"first","affiliation":[{"name":"CSIRO ICT Centre, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Isaac","family":"Amundson","sequence":"additional","affiliation":[{"name":"Vanderbilt University, Nashville, TN"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Janos","family":"Sallai","sequence":"additional","affiliation":[{"name":"Vanderbilt University, Nashville, TN"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter","family":"V\u00f6lgyesi","sequence":"additional","affiliation":[{"name":"Vanderbilt University, Nashville, TN"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akos","family":"L\u00e9deczi","sequence":"additional","affiliation":[{"name":"Vanderbilt University, Nashville, TN"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xenofon","family":"Koutsoukos","sequence":"additional","affiliation":[{"name":"Vanderbilt University, Nashville, TN"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2010,8,20]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/1410012.1410034"},{"key":"e_1_2_1_2_1","volume-title":"Proceedings of the 2nd International Workshop on Mobile Entity Localization and Tracking in GPS-less Environments (MELT). Lecture Notes in Computer Science","volume":"5801","author":"Amundson I.","unstructured":"Amundson , I. , Kushwaha , M. , and Koutsoukos , X . 2009. On the feasibility of determining angular separation in mobile wireless sensor networks . In Proceedings of the 2nd International Workshop on Mobile Entity Localization and Tracking in GPS-less Environments (MELT). Lecture Notes in Computer Science , vol. 5801 , Springer, Berlin, Germany. Amundson, I., Kushwaha, M., and Koutsoukos, X. 2009. On the feasibility of determining angular separation in mobile wireless sensor networks. In Proceedings of the 2nd International Workshop on Mobile Entity Localization and Tracking in GPS-less Environments (MELT). Lecture Notes in Computer Science, vol. 5801, Springer, Berlin, Germany."},{"key":"e_1_2_1_3_1","first-page":"77584","article-title":"Radar: An in-building RF-based user-location and tracking system","volume":"2","author":"Bahl P.","year":"2000","unstructured":"Bahl , P. and Padmanabhan , V. N. 2000 . Radar: An in-building RF-based user-location and tracking system . In Proceedings of IEEE INFOCOM. vol. 2 , 77584 . Bahl, P. and Padmanabhan, V. N. 2000. Radar: An in-building RF-based user-location and tracking system. In Proceedings of IEEE INFOCOM. vol. 2, 77584.","journal-title":"Proceedings of IEEE INFOCOM."},{"volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Bergbreiter S.","key":"e_1_2_1_4_1","unstructured":"Bergbreiter , S. and Pister , K. S. J. 2003. CotsBots: An off-the-shelf platform for distributed robotics . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). Bergbreiter, S. and Pister, K. S. J. 2003. CotsBots: An off-the-shelf platform for distributed robotics. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)."},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1177\/10943420020160030201"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.814923"},{"key":"e_1_2_1_7_1","volume-title":"Proceedings of the MobiSys Workshop on Applications of Mobile Embedded Systems. (WAMES).","author":"Butler Z.","year":"2004","unstructured":"Butler , Z. , Corke , P. , Peterson , R. , and D. Rus . 2004 . Networked cows: Virtual fences for controlling cows . In Proceedings of the MobiSys Workshop on Applications of Mobile Embedded Systems. (WAMES). Butler, Z., Corke, P., Peterson, R., and D.Rus. 2004. Networked cows: Virtual fences for controlling cows. In Proceedings of the MobiSys Workshop on Applications of Mobile Embedded Systems. (WAMES)."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/78.157301"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/48.107154"},{"key":"e_1_2_1_10_1","article-title":"Application of state estimation to target tracking","author":"Chang C.-B.","year":"1984","unstructured":"Chang , C.-B. and Tabaczynski , J. 1984 . Application of state estimation to target tracking . IEEE Trans. Aut. Contr. 29--2, 98--109. Chang, C.-B. and Tabaczynski, J. 1984. Application of state estimation to target tracking. IEEE Trans. Aut. Contr. 29--2, 98--109.","journal-title":"IEEE Trans. Aut. Contr. 29--2, 98--109."},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/1460412.1460426"},{"volume-title":"Proceedings of the 4th International Symposium on Information Processing in Sensor Networks (IPSN).","author":"Dantu K.","key":"e_1_2_1_12_1","unstructured":"Dantu , K. , Rahimi , M. , Shah , H. , Babel , S. , Dhariwal , A. , and Sukhatme , G. S . 2005. robomote: Enabling mobility in sensor networks . In Proceedings of the 4th International Symposium on Information Processing in Sensor Networks (IPSN). Dantu, K., Rahimi, M., Shah, H., Babel, S., Dhariwal, A., and Sukhatme, G. S. 2005. robomote: Enabling mobility in sensor networks. In Proceedings of the 4th International Symposium on Information Processing in Sensor Networks (IPSN)."},{"volume-title":"Proceedings of IPSN\/SPOTS.","author":"Dutta P.","key":"e_1_2_1_13_1","unstructured":"Dutta , P. , Grimmer , M. , Arora , A. , Bibyk , S. , and Culler , D . 2005. Design of a wireless sensor network platform for detecting rare, random, and ephemeral events . In Proceedings of IPSN\/SPOTS. Dutta, P., Grimmer, M., Arora, A., Bibyk, S., and Culler, D. 2005. Design of a wireless sensor network platform for detecting rare, random, and ephemeral events. In Proceedings of IPSN\/SPOTS."},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/313451.313556"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2005.858557"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/11502593_43"},{"volume-title":"Proceedings of the IEEE Global Telecommunications Conference (GLOBECOM).","author":"Gandham S.","key":"e_1_2_1_17_1","unstructured":"Gandham , S. , Dawande , M. , Prakash , R. , and Venkatesan , S . 2003. Energy efficient schemes for wireless sensor networks with multiple mobile base stations . In Proceedings of the IEEE Global Telecommunications Conference (GLOBECOM). Gandham, S., Dawande, M., Prakash, R., and Venkatesan, S. 2003. Energy efficient schemes for wireless sensor networks with multiple mobile base stations. In Proceedings of the IEEE Global Telecommunications Conference (GLOBECOM)."},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/1182807.1182815"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/1098918.1098941"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2005.1458284"},{"volume-title":"Proceedings of the 2nd European Workshop on Wireless Sensor Networks. (EWSN).","author":"Wener-Allen G.","key":"e_1_2_1_21_1","unstructured":"Wener-Allen , G. , Johnson , J. , Ruiz , M. , Lees , J. , and Welsh , M . 2005. Monitoring volcanic eruptions with a wireless sensor networks . In Proceedings of the 2nd European Workshop on Wireless Sensor Networks. (EWSN). Wener-Allen, G., Johnson, J., Ruiz, M., Lees, J., and Welsh, M. 2005. Monitoring volcanic eruptions with a wireless sensor networks. In Proceedings of the 2nd European Workshop on Wireless Sensor Networks. (EWSN)."},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2004.1266301"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/2.940014"},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/MM.2002.1134340"},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/378993.379006"},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/1023720.1023726"},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/605397.605408"},{"key":"e_1_2_1_28_1","doi-asserted-by":"crossref","unstructured":"Kalman R. E. 1960. A new approach to linear filtering and prediction problems. Trans. ASME\u2014J. Basic Eng. 82 (Series D) 35--45.  Kalman R. E. 1960. A new approach to linear filtering and prediction problems. Trans. ASME\u2014J. Basic Eng. 82 (Series D) 35--45.","DOI":"10.1115\/1.3662552"},{"volume-title":"Proceedings of the 4th European Workshop on Wireless Sensor Network. (EWSN).","author":"Kus\u00fd B.","key":"e_1_2_1_29_1","unstructured":"Kus\u00fd , B. , Balogh , G. , L\u00e9deczi , A. , Sallai , J. , and Mar\u00f3ti , M . 2007a. inTrack: High precision tracking of mobile sensor nodes . In Proceedings of the 4th European Workshop on Wireless Sensor Network. (EWSN). Kus\u00fd, B., Balogh, G., L\u00e9deczi, A., Sallai, J., and Mar\u00f3ti, M. 2007a. inTrack: High precision tracking of mobile sensor nodes. In Proceedings of the 4th European Workshop on Wireless Sensor Network. (EWSN)."},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/1127777.1127844"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1504\/IJAHUC.2006.010505"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/1322263.1322267"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/1247660.1247678"},{"volume-title":"Proceedings of the 6th Workshop on Intelligent Solutions in Embedded Systems (WISES).","author":"Ledeczi A.","key":"e_1_2_1_34_1","unstructured":"Ledeczi , A. , Volgyesi , P. , Sallai , J. , and Thibodeaux , R . 2008. A novel RF ranging method . In Proceedings of the 6th Workshop on Intelligent Solutions in Embedded Systems (WISES). Ledeczi, A., Volgyesi, P., Sallai, J., and Thibodeaux, R. 2008. A novel RF ranging method. In Proceedings of the 6th Workshop on Intelligent Solutions in Embedded Systems (WISES)."},{"key":"e_1_2_1_35_1","volume-title":"Tinyos: An operating system for wireless sensor networks. Ambient Intelligence","author":"Levis P.","year":"2005","unstructured":"Levis , P. , Madden , S. , Polastre , J. , Szewczyk , R. , Whitehouse , K. , Woo , A. , Gay , D. , Hill , J. , Welsh , M. , Brewer , E. , and Culler , D . 2005 . Tinyos: An operating system for wireless sensor networks. Ambient Intelligence . Sprinter-Verlag , Berlin, Germany . Levis, P., Madden, S., Polastre, J., Szewczyk, R., Whitehouse, K., Woo, A., Gay, D., Hill, J., Welsh, M., Brewer, E., and Culler, D. 2005. Tinyos: An operating system for wireless sensor networks. Ambient Intelligence. Sprinter-Verlag, Berlin, Germany."},{"volume-title":"Proceedings of the SPIE Conference on Signal and Data Processing of Small Targets. 537--550","author":"Li X. R.","key":"e_1_2_1_36_1","unstructured":"Li , X. R. and Jilkov , V. P . 2004. A survey of maneuvering target tracking: approximation techniques for nonlinear filtering . In Proceedings of the SPIE Conference on Signal and Data Processing of Small Targets. 537--550 . Li, X. R. and Jilkov, V. P. 2004. A survey of maneuvering target tracking: approximation techniques for nonlinear filtering. In Proceedings of the SPIE Conference on Signal and Data Processing of Small Targets. 537--550."},{"key":"e_1_2_1_37_1","unstructured":"Madsen K. Nielsen H. and Tingleff O. 2004. Methods for nonlinear least squares problems. Lecture Note. Technical University of Denmark Lyngby Denmark.  Madsen K. Nielsen H. and Tingleff O. 2004. Methods for nonlinear least squares problems. Lecture Note. Technical University of Denmark Lyngby Denmark."},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/1098918.1098920"},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/1031495.1031502"},{"volume-title":"Proceedings of the 1st IEEE International Workshop on Sensor Network Protocols and Applications.","author":"Shah R.","key":"e_1_2_1_40_1","unstructured":"Shah , R. , Roy , S. , Jain , S. , and Brunette , W . 2003. Data mules: Modeling a three-tier architecture for sparse sensor networks . In Proceedings of the 1st IEEE International Workshop on Sensor Network Protocols and Applications. Shah, R., Roy, S., Jain, S., and Brunette, W. 2003. Data mules: Modeling a three-tier architecture for sparse sensor networks. In Proceedings of the 1st IEEE International Workshop on Sensor Network Protocols and Applications."},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1145\/990064.990088"},{"key":"e_1_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/1127777.1127785"},{"volume-title":"Proceedings of the IEEE INFOCOM.","author":"Wang G.","key":"e_1_2_1_43_1","unstructured":"Wang , G. , Cao , G. , Porta , T. , and Zhang , W . 2005. Sensor relocation in mobile sensor networks . In Proceedings of the IEEE INFOCOM. Wang, G., Cao, G., Porta, T., and Zhang, W. 2005. Sensor relocation in mobile sensor networks. In Proceedings of the IEEE INFOCOM."},{"key":"e_1_2_1_44_1","first-page":"95","article-title":"An introduction to the Kalman filter. Tech. rep","author":"Welch G.","year":"2004","unstructured":"Welch , G. and Bishop , G. 2004 . An introduction to the Kalman filter. Tech. rep . TR 95 - 041 . Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC. Welch, G. and Bishop, G. 2004. An introduction to the Kalman filter. Tech. rep. TR 95-041. Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC.","journal-title":"TR"},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/1031495.1031498"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.814921"}],"container-title":["ACM Transactions on Sensor Networks"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1806895.1806896","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/1806895.1806896","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T11:39:37Z","timestamp":1750246777000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/1806895.1806896"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,8]]},"references-count":46,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2010,8]]}},"alternative-id":["10.1145\/1806895.1806896"],"URL":"https:\/\/doi.org\/10.1145\/1806895.1806896","relation":{},"ISSN":["1550-4859","1550-4867"],"issn-type":[{"type":"print","value":"1550-4859"},{"type":"electronic","value":"1550-4867"}],"subject":[],"published":{"date-parts":[[2010,8]]},"assertion":[{"value":"2009-03-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2009-11-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2010-08-20","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}