Sparsity-Exploiting Anchor Placement for Localization in Sensor Networks

We consider the anchor placement problem in localization based on one-way ranging, in which either the sensor or the anchors send the ranging signals. The number of anchors deployed over a geographical area is generally sparse, and we show that the anchor placement can be formulated as the design of a sparse selection vector. Interestingly, the case in which the anchors send the ranging signals, results in a joint ranging energy optimization and anchor placement problem. We make abstraction of the localization algorithm and instead use the Cram\'er-Rao lower bound (CRB) as the performance constraint. The anchor placement problem is formulated as an elegant convex optimization problem which can be solved efficiently.