Sensing clouds: A distributed cooperative target tracking with tiny binary noisy sensors

Tal Marian, Osnat (Ossi) Mokryn, Yuval Shavitt

Research output: Contribution to journalArticlepeer-review


This paper suggests a novel algorithm for mobile object tracking using wireless sensor networks (WSNs). The paper assumes a future model of WSNs, where a large number of low to medium range inexpensive and noisy sensors are distributed randomly over an area. The distributed algorithm is based on short range communication between neighboring sensors, and is designed to work with very basic low cost binary sensors, that can report only a sensing, not sensing value. Neighboring sensors that sense the object form a cloud around the object which is dynamically updated as the object moves. To save energy on reporting a subset of the cloud, the cloud core, is elected. A trade-off between the accuracy and the core size (namely transmission power) is presented, as well as an extensive simulation study. Our algorithm works well with false negative sensing and up to 10% false positive sensing.

Original languageEnglish
Pages (from-to)2356-2366
Number of pages11
JournalAd Hoc Networks
Issue number8
StatePublished - 2013
Externally publishedYes


  • Distributed algorithms
  • Sensor networks
  • Target tracking
  • Tiny binary sensors

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Networks and Communications


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