OPTILOD: Optimal Beacon Placement for High-Accuracy Indoor Localization of Drones

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. 2024 Mar 14;24(6):1865. doi: 10.3390/s24061865

Algorithm 1 Four-Connectivity Optimal Beacon Placement

Input:
Drone domain (D), Beacon domain (B), Beacon Range (R), K-connectivity (K).
Output:
Beacon placement configuration with the minimum number of beacons and 4-connectivity full coverage.
Initialization:
1:
for $i = 1$ to $i = n u m b e r o f i n d i v i d u a l s (P)$ do
2:
Generate one beacon at random position $(x, y, z) \in B$ ;
3:
Calculate the overall coverage provided by this beacon (fitness).
4:
end for
5:
Sort all of the individuals (P sets of one beacon) with respect to their fitness from the highest to the lowest;
6:
Select the first C of them (the C best of them according to their fitness) and eliminate the rest $P - C$ (Evolution chooses the best as parents for the next generation and kills the rest);
7:
Update $P_{1}, \dots, P_{C}$ with these survivor individuals which are going to be used in the next generation.
Optimization Framework:
8:
for $k = 1$ to $i = 4 (K - c o n n e c t i v i t y = 4)$ do
9:
while $S T O P = = 0$ do
10:
for $i = 1$ to $i = P / C$ do
11:
For each of the selected individuals from previous generation $(P_{1}, \dots, P_{C})$ , generate one beacon at random position $(x, y, z) \in B$ and add it to them;
12:
Calculate the k fitness (maximum coverage with respect to each point has access to k beacon) for each of these individuals.
13:
end for
14:
Sort all of these new individuals (P sets of some beacons) with respect to their k fitness from the highest to the lowest;
15:
Select the first C of them (the C best of them according to their fitness) and eliminate the rest $P - C$ (Evolution chooses the best as parents for the next generation and kills the rest);
16:
Update $P_{1} \dots P_{C}$ with these individuals which are going to be used in the next generation;
17:
if at least one of the ${P_{1}, \dots, P_{C}}$ has a k connectivity coverage then
18:
$S T O P = 1$
19:
end if
20:
end while
21:
end for