Publication Date


Document Type


Committee Members

Marian Kazimierczuk (Committee Member), Kuldip Rattan (Advisor), Xiaodong Zhang (Committee Member)

Degree Name

Master of Science in Engineering (MSEgr)


Global Positioning System (GPS) plays a vital role for providing localization to the autonomous robots. But the quality of the GPS signal degrades in an indoor location and hence GPS cannot be used for indoor localization. Cricket motes are location-aware system that can provide localization service to its users in an indoor location. Cricket motes apply the acoustic ranging technique to find distance between two points. But before a user can use this localization system, assigning coordinate system to the motes requires manual assistance. This project presents a novel algorithm for self-calibration of the cricket motes to a coordinate system when positioned around a rectangular field. The initial localization of the cricket motes is performed using the trilateration technique so as to get a rough estimate of their position. Then, the logic of Simultaneous Localization and Mapping (SLAM) algorithm is applied to obtain positioning accuracy within 5 cm.

Page Count


Department or Program

Department of Electrical Engineering

Year Degree Awarded