Mapping swarms of resource-limited sensor motes: Solely using distance measurements and non-unique identifiers

This work is on 3-D localization of sensor motes in massive swarms based solely on 1-D relative distance-measurements between neighbouring motes. We target applications in remote and difficult-to-access environments such as the exploration and mapping of the interior of oil reservoirs where hundreds or thousands of motes are used. These applications bring forward the need to use highly miniaturized sensor motes of less than 1 centimeter, thereby significantly limiting measurement and processing capabilities. These constraints, in combination with additional limitations posed by the environments, impede the communication of unique hardware identifiers, as well as communication with external, fixed beacons.