LAUSR

In this paper, source localization by a network of primitive binary sensors under various imperfections are studied. Detailed analysis and mathematical modeling of imperfect binary sensors are presented. Imperfections include sensor failures of two types, drifting, uncertainty, and heterogeneity in binary sensor trigger thresholds, presence of noise, and nonradial symmetry of sensing ranges. Theoretical results, including asymptotical convergence, are established, in particular in the presence of substantial outliers due to sensor failure and large noise. Efficient numerical algorithms are proposed and simulated supporting the theoretical analysis.