Abstract
In this paper, we propose a position estimation method for sensor nodes from communication connectivity condition of local communication between the nodes. Actual positions of the nodes are unknown. A host computer, which can collect all of the connectivity conditions, iteratively calculate the estimated positions to be less error of connectivity condition between that of actual positions and that of estimated positions. With our proposed method, spring model, that is giving attracting force or repulsive force among the robots under the difference of their connection conditions between estimated position and actual position. The reasonable positions are estimated by proposed method.
