{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T17:03:36Z","timestamp":1780765416845,"version":"3.54.1"},"reference-count":34,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2018,6,22]],"date-time":"2018-06-22T00:00:00Z","timestamp":1529625600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["# CNS-1329755"],"award-info":[{"award-number":["# CNS-1329755"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004052","name":"King Abdullah University of Science and Technology","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100004052","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Sensor Innovation research program"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Cyber-Phys. Syst."],"published-print":{"date-parts":[[2018,7,31]]},"abstract":"<jats:p>As the density of wireless, resource-constrained sensors grows, so does the need to choreograph their actions across both time and space. Recent advances in ultra-wideband RF communication have enabled accurate packet timestamping, which can be used to precisely synchronize time. Location may be further estimated by timing signal propagation, but this requires additional communication overhead to mitigate the effect of relative clock drift. This additional communication lowers overall channel efficiency and increases energy consumption. This article describes a novel approach to simultaneously localizing and time synchronizing networked mobile devices. An Extended Kalman Filter is used to estimate all devices\u2019 positions and clock errors, and packet timestamps serve as measurements that constrain time and overall network geometry. By inspection of the uncertainty in our state estimate, we can adapt the number of messages sent in each communication round to balance accuracy with communication cost. This reduces communication overhead, which decreases channel congestion and power consumption compared to traditional time of arrival and time difference of arrival localization techniques. We demonstrate the performance and efficiency of our approach using a real network of custom RF devices and mobile quadrotors.<\/jats:p>","DOI":"10.1145\/3134841","type":"journal-article","created":{"date-parts":[[2018,6,22]],"date-time":"2018-06-22T12:07:56Z","timestamp":1529669276000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["SLATS"],"prefix":"10.1145","volume":"2","author":[{"given":"Paul","family":"Martin","sequence":"first","affiliation":[{"name":"University of California, Los Angeles, CA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrew","family":"Symington","sequence":"additional","affiliation":[{"name":"University of California, Los Angeles, CA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mani","family":"Srivastava","sequence":"additional","affiliation":[{"name":"University of California, Los Angeles, CA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2018,6,22]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Algorithmic Aspects of Wireless Sensor Networks","author":"Aspnes James","unstructured":"James Aspnes , David Goldenberg , and Yang Richard Yang . 2004. On the computational complexity of sensor network localization . In Algorithmic Aspects of Wireless Sensor Networks , Sotiris Nikoletseas and Jose Rolim (Eds.). Springer , 32--44. http:\/\/www.cs.yale.edu\/homes\/aspnes\/papers\/localization-abstract.html. James Aspnes, David Goldenberg, and Yang Richard Yang. 2004. On the computational complexity of sensor network localization. In Algorithmic Aspects of Wireless Sensor Networks, Sotiris Nikoletseas and Jose Rolim (Eds.). Springer, 32--44. http:\/\/www.cs.yale.edu\/homes\/aspnes\/papers\/localization-abstract.html."},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/984622.984630"},{"key":"e_1_2_1_3_1","unstructured":"Bitcraze. 2015. Bitcraze CrazyFlie 2.0. Retrieved https:\/\/www.bitcraze.io\/.  Bitcraze. 2015. Bitcraze CrazyFlie 2.0. Retrieved https:\/\/www.bitcraze.io\/."},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACSSC.2012.6489262"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2013.013013.120319"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2008.2008846"},{"key":"e_1_2_1_7_1","unstructured":"DecaWave. 2016. DecaWave DW1000 IR-UWB. Retrieved from http:\/\/www.decawave.com\/products\/dw1000.  DecaWave. 2016. DecaWave DW1000 IR-UWB. Retrieved from http:\/\/www.decawave.com\/products\/dw1000."},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMTT.2006.872082"},{"key":"e_1_2_1_9_1","volume-title":"Dave Zachariah, and Peter H\u00e4ndel.","author":"Dwivedi Satyam","year":"2015","unstructured":"Satyam Dwivedi , Alessio De Angelis , Dave Zachariah, and Peter H\u00e4ndel. 2015 . Joint ranging and clock parameter estimation by wireless round trip time measurements. Computing Research Repository abs\/1501.05450 (2015). http:\/\/arxiv.org\/abs\/1501.05450 Satyam Dwivedi, Alessio De Angelis, Dave Zachariah, and Peter H\u00e4ndel. 2015. Joint ranging and clock parameter estimation by wireless round trip time measurements. Computing Research Repository abs\/1501.05450 (2015). http:\/\/arxiv.org\/abs\/1501.05450"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.5555\/1060289.1060304"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/SAM.2014.6882331"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/958491.958508"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCOMM.2013.032013.120381"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2003.1201741"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jctb.2004.11.002"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/2799650.2799651"},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1177\/0361198196153800104"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/2785956.2787487"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353810"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2006.11.018"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/1031495.1031501"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1049\/el.2014.4436"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2005.1458287"},{"key":"e_1_2_1_24_1","volume-title":"Proceedings of the ICRA Workshop on Open Source Software.","author":"Quigley Morgan","unstructured":"Morgan Quigley , Ken Conley , Brian P. Gerkey , Josh Faust , Tully Foote , Jeremy Leibs , Rob Wheeler , and Andrew Y. Ng . 2009. ROS: An open-source robot operating system . In Proceedings of the ICRA Workshop on Open Source Software. Morgan Quigley, Ken Conley, Brian P. Gerkey, Josh Faust, Tully Foote, Jeremy Leibs, Rob Wheeler, and Andrew Y. Ng. 2009. ROS: An open-source robot operating system. In Proceedings of the ICRA Workshop on Open Source Software."},{"key":"e_1_2_1_25_1","volume-title":"Adaptive Filters","author":"Sayed Ali H.","unstructured":"Ali H. Sayed . 2011. Adaptive Filters . John Wiley 8 Sons. Ali H. Sayed. 2011. Adaptive Filters. John Wiley 8 Sons."},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2005.1458275"},{"key":"e_1_2_1_27_1","volume-title":"Proceedings of the 12th USENIX Symposium on Networked Systems Design and Implementation (NSDI\u201915)","author":"Shangguan Longfei","year":"2015","unstructured":"Longfei Shangguan , Zheng Yang , Alex X. Liu , Zimu Zhou , and Yunhao Liu . 2015 . Relative localization of RFID tags using spatial-temporal phase profiling . In Proceedings of the 12th USENIX Symposium on Networked Systems Design and Implementation (NSDI\u201915) . USENIX Association, Oakland, CA, 251--263. Longfei Shangguan, Zheng Yang, Alex X. Liu, Zimu Zhou, and Yunhao Liu. 2015. Relative localization of RFID tags using spatial-temporal phase profiling. In Proceedings of the 12th USENIX Symposium on Networked Systems Design and Implementation (NSDI\u201915). USENIX Association, Oakland, CA, 251--263."},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/MNET.2004.1316761"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/INFOCOM.2006.161"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/2248371.2248377"},{"key":"e_1_2_1_31_1","volume-title":"Proceedings of the 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN). 1--7.","author":"Tiemann J.","unstructured":"J. Tiemann , F. Schweikowski , and C. Wietfeld . 2015. Design of an UWB indoor-positioning system for UAV navigation in GNSS-denied environments . In Proceedings of the 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN). 1--7. J. Tiemann, F. Schweikowski, and C. Wietfeld. 2015. Design of an UWB indoor-positioning system for UAV navigation in GNSS-denied environments. In Proceedings of the 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN). 1--7."},{"key":"e_1_2_1_32_1","volume-title":"Proceedings of the 13th USENIX Symposium on Networked Systems Design and Implementation (NSDI\u201916)","author":"Vasisht Deepak","year":"2016","unstructured":"Deepak Vasisht , Swarun Kumar , and Dina Katabi . 2016 . Decimeter-level localization with a single WiFi access point . In Proceedings of the 13th USENIX Symposium on Networked Systems Design and Implementation (NSDI\u201916) . USENIX Association, Santa Clara, CA, 165--178. Deepak Vasisht, Swarun Kumar, and Dina Katabi. 2016. Decimeter-level localization with a single WiFi access point. In Proceedings of the 13th USENIX Symposium on Networked Systems Design and Implementation (NSDI\u201916). USENIX Association, Santa Clara, CA, 165--178."},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2013.2297680"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2009.2032990"}],"container-title":["ACM Transactions on Cyber-Physical Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3134841","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3134841","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3134841","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T02:11:25Z","timestamp":1750212685000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3134841"}},"subtitle":["Simultaneous Localization and Time Synchronization"],"short-title":[],"issued":{"date-parts":[[2018,6,22]]},"references-count":34,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2018,7,31]]}},"alternative-id":["10.1145\/3134841"],"URL":"https:\/\/doi.org\/10.1145\/3134841","relation":{},"ISSN":["2378-962X","2378-9638"],"issn-type":[{"value":"2378-962X","type":"print"},{"value":"2378-9638","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,6,22]]},"assertion":[{"value":"2016-07-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2017-08-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2018-06-22","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}