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We demonstrate an anchor-free mobile node localization system using Ymote, which is equipped with the IEEE 802.15.4a RF module based on Chirp Spread Spectrum (CSS) technology. In contrast to conventional centralized systems, our system is fully distributed, hence scalable, and enables self-positioning in anchor-free environment. The localization system is implemented on the RETOS operating system.

Demo abstract: IEEE 802.15.4a-based anchor-free mobile node localization system