Distributed Beacon Drifting Detection for Localization in Unstable Environments

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="865983.fig.004a" src="https://static.hindawi.com/articles/mpe/volume-2013/865983/figures/865983.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Success rate </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="865983.fig.004b" src="https://static.hindawi.com/articles/mpe/volume-2013/865983/figures/865983.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Error rate  </td></tr></table></td></tr></table>

<table>Impact of iteration times of negotiation on the proposed algorithm.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Distributed Beacon Drifting Detection for Localization in Unstable Environments 