Dynamic Fine Grained Localisaton in ad hoc sensors

Ranging + Estimation
ToA better than RSSI-- T0A being a difference is more robust, not sure why
Atomic multilateration-- not sure with the exact equations yet.
Collaborative multilateration- when there are not atleast 3 beacons around, use multihop location information.
Statisitical analysis of beacon and node placement

Acousitc Sensor Networks

Water Channel Variability at depths
-mulitpath fading, doppler spread, low bandwidth, high delay varations
Medium access
-no tdma due to timing constraints, cdma looks ok
- no kind of rts/cts since due to high delay variability
Routing
low overhead and low latency, connectivity
Transport
event transport important than actual data transport