{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,8]],"date-time":"2025-09-08T06:06:44Z","timestamp":1757311604145,"version":"3.37.3"},"reference-count":30,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2012,7,1]],"date-time":"2012-07-01T00:00:00Z","timestamp":1341100800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-0721604","CNS-0347440","MURI Grant W911NF-06-1-0076"],"award-info":[{"award-number":["CNS-0721604","CNS-0347440","MURI Grant W911NF-06-1-0076"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-0721604","CNS-0347440","MURI Grant W911NF-06-1-0076"],"award-info":[{"award-number":["CNS-0721604","CNS-0347440","MURI Grant W911NF-06-1-0076"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"name":"ARO","award":["CNS-0721604","CNS-0347440","MURI Grant W911NF-06-1-0076"],"award-info":[{"award-number":["CNS-0721604","CNS-0347440","MURI Grant W911NF-06-1-0076"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Distributed Sensor Networks"],"published-print":{"date-parts":[[2012,7,1]]},"abstract":"<jats:p> Over the past decade, wireless sensor networks have advanced in terms of hardware design, communication protocols, and resource efficiency. Recently, there has been growing interest in mobility, and several small-profile sensing devices that control their own movement have been developed. Unfortunately, resource constraints inhibit the use of traditional navigation methods because these typically require bulky, expensive sensors, substantial memory, and a generous power supply. Therefore, alternative navigation techniques are required. In this paper, we present a navigation system implemented entirely on resource-constrained sensors. Localization is realized using triangulation in conjunction with radio interferometric angle-of-arrival estimation. A digital compass is employed to keep the mobile node on the desired trajectory. We also present a variation of the approach that uses a Kalman filter to estimate heading without using the compass. We demonstrate that a resource-constrained mobile sensor can accurately perform waypoint navigation with an average position error of 0.95\u2009m. <\/jats:p>","DOI":"10.1155\/2012\/842107","type":"journal-article","created":{"date-parts":[[2012,7,11]],"date-time":"2012-07-11T21:00:41Z","timestamp":1342040441000},"page":"842107","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":19,"title":["Mobile Sensor Waypoint Navigation via RF-Based Angle of Arrival Localization"],"prefix":"10.1177","volume":"8","author":[{"given":"Isaac","family":"Amundson","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Institute for Software Integrated Systems (ISIS), Vanderbilt University, Nashville, TN 37235, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Janos","family":"Sallai","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Institute for Software Integrated Systems (ISIS), Vanderbilt University, Nashville, TN 37235, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xenofon","family":"Koutsoukos","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Institute for Software Integrated Systems (ISIS), Vanderbilt University, Nashville, TN 37235, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akos","family":"Ledeczi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, Institute for Software Integrated Systems (ISIS), Vanderbilt University, Nashville, TN 37235, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2012,7,11]]},"reference":[{"key":"B1-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/IPSN.2005.1440957"},{"key":"B2-2012-842107","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"412","DOI":"10.1007\/11502593_43","volume-title":"Proceedings of the 1st IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS \u203205)","volume":"3560","author":"Friedman J."},{"first-page":"27","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS \u203203)","author":"Bergbreiter S.","key":"B3-2012-842107"},{"first-page":"1600","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA \u203203)","author":"McMickell M. B.","key":"B4-2012-842107"},{"key":"B5-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.806226"},{"key":"B6-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/6.272176"},{"key":"B7-2012-842107","doi-asserted-by":"publisher","DOI":"10.1145\/345910.345917"},{"first-page":"1","volume-title":"Proceedings of the 3rd International Conference on Embedded Networked Sensor Systems (SenSys \u203205)","author":"Maroti M.","key":"B8-2012-842107"},{"key":"B9-2012-842107","series-title":"Lecture Notes in Computer Science","first-page":"1","volume-title":"Proceedings of the 7th European Conference on Wireless Sensor Networks (EWSN \u203210)","volume":"5970","author":"Amundson I."},{"key":"B10-2012-842107","doi-asserted-by":"publisher","DOI":"10.1145\/1236360.1236369"},{"key":"B11-2012-842107","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00069-X"},{"first-page":"497","volume-title":"Proceedings of the 4th International Symposium on Information Processing in Sensor Networks (IPSN \u203205)","author":"Dutta P.","key":"B12-2012-842107"},{"key":"B14-2012-842107","series-title":"Lecture Notes in Computer Science","doi-asserted-by":"crossref","first-page":"235","DOI":"10.1007\/978-3-642-04385-7_16","volume-title":"Proceedings of the 2nd International Workshop on Mobile Entity Localization and Tracking in GPS-less Environments (MELT \u203209)","volume":"5801","author":"Amundson I."},{"first-page":"29","volume-title":"Proceedings of the 5th ACM International Conference on Embedded Networked Sensor Systems (SenSys \u203207)","author":"Kusy B.","key":"B15-2012-842107"},{"first-page":"139","volume-title":"Proceedings of the 5th International Conference on Mobile Systems, Applications and Services (MobiSys \u203207)","author":"Kusy B.","key":"B16-2012-842107"},{"key":"B17-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2005.858557"},{"key":"B18-2012-842107","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199704)14:4<231::AID-ROB2>3.0.CO;2-R"},{"key":"B19-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOM.2000.832252"},{"key":"B20-2012-842107","doi-asserted-by":"publisher","DOI":"10.1007\/s00779-006-0095-2"},{"key":"B21-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"first-page":"27","volume-title":"Proceedings of the 5th International Conference on Information Processing in Sensor Networks (IPSN \u203206)","author":"Taylor C.","key":"B22-2012-842107"},{"first-page":"41","volume-title":"Proceedings of the 3rd IEEE International Conference on Pervasive Computing and Communications (PerCom \u203205)","author":"Verma A.","key":"B23-2012-842107"},{"key":"B26-2012-842107","doi-asserted-by":"publisher","DOI":"10.1504\/IJAHUC.2006.010505"},{"key":"B27-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/25.45466"},{"first-page":"1734","volume-title":"Proceedings of the 22nd Annual Joint Conference on the IEEE Computer and Communications Societies (INFOCOM \u203203)","author":"Niculescu D.","key":"B28-2012-842107"},{"volume-title":"Proceedings of the 4th International Symposium on Modeling and Optimization in Mobile, Ad Hoc and Wireless Networks (WiOpt \u203206)","author":"Nasipuri A.","key":"B29-2012-842107"},{"key":"B30-2012-842107","doi-asserted-by":"publisher","DOI":"10.1109\/70.563647"},{"key":"B31-2012-842107","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2005.03.007"},{"key":"B33-2012-842107","doi-asserted-by":"publisher","DOI":"10.1145\/1806895.1806896"},{"volume-title":"Proceedings of the Workshop on Hot Topics in Embedded Networked Sensors (HotEmNets \u203210)","author":"Sallai J.","key":"B34-2012-842107"}],"container-title":["International Journal of Distributed Sensor Networks"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/journals.sagepub.com\/doi\/pdf\/10.1155\/2012\/842107","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/journals.sagepub.com\/doi\/full-xml\/10.1155\/2012\/842107","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/journals.sagepub.com\/doi\/pdf\/10.1155\/2012\/842107","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,5,27]],"date-time":"2021-05-27T09:56:22Z","timestamp":1622109382000},"score":1,"resource":{"primary":{"URL":"http:\/\/journals.sagepub.com\/doi\/10.1155\/2012\/842107"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,7,1]]},"references-count":30,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2012,7,1]]}},"alternative-id":["10.1155\/2012\/842107"],"URL":"https:\/\/doi.org\/10.1155\/2012\/842107","relation":{},"ISSN":["1550-1477","1550-1477"],"issn-type":[{"type":"print","value":"1550-1477"},{"type":"electronic","value":"1550-1477"}],"subject":[],"published":{"date-parts":[[2012,7,1]]}}}