In this paper, the problem of indoor localization in wireless networks is addressed relying on a swarm-based approach. We assume to know the positions of a few number of sensor nodes, denoted as anchor nodes (ANs), and we aim at finding the position of a target node (TN) on the basis of the estimated distances between each AN and the considered TN. Since ultra wide band (UWB) technology is particularly suited for localization purposes (owing to its remarkable time resolution), we consider a network composed of UWB devices. More precisely, we carry out an experimental investigation using the PulsOn 410 ranging and communication modules (RCMs) produced by time domain. Using four of them as ANs and one of them as TN, various topologies are considered in order to evaluate the accuracy of the proposed swarm-based localization approach, which relies on the pairwise (AN-TN) distances estimated by the RCMs. Then, we investigate how the accuracy of the proposed localization algorithm changes if we apply to the distance estimates a recently proposed stochastic correction, which is designed to reduce the distance estimation error. Our experimental results show that a good accuracy is obtained in all the considered scenarios, especially when applying the proposed swarm-based localization algorithm to the stochastically corrected distances. The obtained results are satisfying also in terms of software execution time, making the proposed approach applicable to real-time dynamic localization problems.
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