A novel type of application for the exploration of enclosed or otherwise difficult to access environments requires large quantities of miniaturized sensor nodes to perform measurements while they traverse the environment in a “go with the flow” approach. Examples of these are the exploration of underground …

This work provides a feasibility study on estimating the 3-D locations of several thousand miniaturized free-floating sensor platforms. The localization is performed on basis of sparse ultrasound range measurements between sensor platforms and without the use of beacons. We show that this task can be …