Abstract-This paper introduces the notion of network experimentation and proposes an experimentation methodology particularly suited for cooperative wireless networks. Based on this methodology we performed extensive measurement campaigns and compare various cooperative localization techniques under a common setting. Network experiments enable (i) the quantification of cooperation benefits, (ii) the development of techniques for harnessing environmental information, and (iii) the characterization of network localization algorithms. As a case study, we consider ultrawide bandwidth cooperative locationaware networks in cluttered indoor environments and evaluate their performance based on measurements collected from network experiments.

Wireless networks with navigation capability enable mobile devices to both communicate and determine their positions. Diversity navigation employing multiple sensing technologies can overcome the limitation of individual technologies, especially when operating in harsh environments such as indoors. To characterize the diversity of navigation systems in real environments, we performed an extensive measurement campaign, where data from heterogenous sensors were collected simultaneously. The performance of Bayesian navigation algorithms, relying on the particle filter implementation, is evaluated based on measured data from ultrawideband, ZigBee, and inertial sensors. This enables us to quantify the benefits of data fusion as well as the effect of statistical mobility models for real-time diversity navigation

The potentially hexadentate compound 1,4,7-tris(pyrazol-1 -ylmethyl)-I ,4,7-triazacyclononane (L) gave the complexes [{PbL(0,CMe)},][BPh4]2~2EtOH 1, [PbL(C10,)]C1O4 2 and [PbL(BPh4)]BPh4 3. The crystal structures of the three complexes have been determined by single-crystal X-ray diffraction. In all, the lead(r1) ion is co-ordinated by the six nitrogen donors of the ligand and is bound in addition by three oxygen atoms from bridging acetate (1) or perchlorate (2) anions, or interacts at a large distance with all the carbon atoms of a phenyl group from a tetraphenylborate anion (3). The access to the metal by the exogenous anions is allowed by the co-ordination requirements of the large lead(I1) ion which cannot be completely satisfied by the flexible L ligand.

The problem of avoiding obstacles while navigating within an environment for a Unicycle-like Wheeled Mobile Robot (WMR) is of prime importance in robotics; the aim of this work is to solve such a problem proposing a perturbed version of the standard kinematic model able to compensate for the neglected dynamics of the robot. The disturbances are considered additive on the inputs and the solution is based on the supervisory control framework, finite-time stability and a robust multi-output regulation. The effectiveness of the solution is proved, supported by experiments and finally compared with the Dynamic Window Approach (DWA) to show how the proposed method can perform better than standard methods.