RUUMBA: a Range-only, Unscented, Undelayed, Mobile Beacon-Assisted framework for WSN discovery and localization

This thesis concerns the problem of localizing the nodes of a WSN using only RSSI range measurements from an autonomous mobile robot. Framing it as a SLAM problem, state of the art techniques such as the Unscented Kalman Filter and GMM undelayed initialization are joined in a single context. Moreover, different path planning strategies for optimal information/energy expenditure ratio are developed and compared simulationally.