Reduced-Complexity Algorithms for Indoor Map-Aware Localization Systems

Figure 1

Localization system employing anchors (green squares) to localise a single agent (blue circle) and operating in a bounded map (whose support is identified by the grey area). The dashed line denotes the map bounding box . LOS (NLOS) links are evidenced by continuous (dashed) lines (note that in the considered case, since the agent is not connected to anchors 4 and 5). The dotted line represents the outer edge of a possible rectangular covering, whereas the segments representing the environmental obstructions are evidenced in red.