Abstract-In this paper we provide a theoretical foundation for the problem of network localization in which some nodes know their locations and other nodes determine their locations by measuring the distances to their neighbors. We construct grounded graphs to model network localization and apply graph rigidity theory to test the conditions for unique localizability and to construct uniquely localizable networks. We further study the computational complexity of network localization and investigate a subclass of grounded graphs where localization can be computed efficiently. We conclude with a discussion of localization in sensor networks where the sensors are placed randomly.

In this paper we provide a theoretical foundation for the problem of network localization in which some nodes know their locations and other nodes determine their locations by measuring the distances to their neighbors. We construct grounded graphs to model network localization and apply graph rigidity theory to test the conditions for unique localizability and to construct uniquely localizable networks.We further study the computational complexity of network localization and investigate a subclass of grounded graphs where localization can be computed efficiently. We conclude with a discussion of localization in sensor networks where the sensors are placed randomly.

In this paper, we consider using angle of arrival information (bearing) for sensor network localization. The essential property we require in this paper is that a node can infer heading information from its neighbors. We address the uniqueness of network localization solutions by the theory of globally rigid graphs. We show that while the parallel rigidity problem for formations with bearings is isomorphic to the distance case, the global rigidity of the formation is simpler (in fact identical to the simpler rigidity case) for a network with bearings, compared to formations with distances.

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