Where are You? Localising Stationary Nodes with Limited Information

Low-Power wireless technology has allowed the free and flexible deployment of embedded systems in a variety of scenarios. As more and more systems get deployed and an increasing number of devices are introduced in scenarios with already existing infrastructures, it becomes increasingly important to understand system properties with limited information and intervention from the user. In this paper, we focus on understanding the positioning of wireless devices in an indoor environment with use of connectivity information and a physical map of the scenario as well as optional anchor devices to further increase accuracy. With limited information, we explore how the location of devices can be estimated through the use of force-directed graphs augmented with specific domain knowledge. By looking at different indoor testbeds and challenging simulated scenarios, we investigate to what extent we can infer the correct positioning. We discuss the assumptions that needed to be made, thus exploring to what extent our approach can be employed in practice. In conclusion, this paper shows that it is possible to position devices correctly with only limited user intervention, having the network identify the displacement of its own components and supporting further reasoning about system properties.