---
title: "Topological Mapping through Distributed, Passive Sensors"
authors:
  - "Dimitri Marinakis"
  - "Gregory Dudek"
doi: ""
url: "https://ijcai.org/proceedings/2007/346"
pdf: "https://ijcai.org/proceedings/2007/0346.pdf"
venue: "Proceedings of the Twentieth International Joint Conference on Artificial Intelligence"
year: 2007
pages: "2147-2151"
track: ""
keywords:
---

# Topological Mapping through Distributed, Passive Sensors

Dimitri Marinakis, Gregory Dudek

*Proceedings of the Twentieth International Joint Conference on Artificial Intelligence*, pages 2147-2151.

## Abstract

In this paper we address the problem of inferring the topology, or inter-node navigability, of a sensor network given non-discriminating observations of activity in the environment. By exploiting motion present in the environment, our approach is able to recover a probabilistic model of the sensor network connectivity graph and the underlying traffic trends. We employ a reasoning system made up of a stochastic Expectation Maximization algorithm and a higher level search strategy employing the principle of Occam's Razor to look for the simplest solution explaining the data. The technique is assessed through numerical simulations and experiments conducted on a real sensor network.