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This work focuses on the construction of rigid formation from non-rigid ones in the two-dimensional space. Analogously to operations of Henneberg sequence aiming to guarantee the minimal rigidity of formation, two new operations are introduced, allowing one to sequentially build any rigid graph by connecting non-rigid ones. A systematic construction sequence is developed based on proposed operations, and is shown to be able to restore rigidity by introducing minimum number of new edges during the construction process. Further applications of the proposed operations are also presented, one of which is successfully employed in the problem of persistence analysis of directed graphs, and can verify the persistence of a given graph with a speed two times faster comparing with existing solution. [ABSTRACT FROM AUTHOR]

To achieve a good trade-off between accuracy and cost in practical localisation, methods are studied to enhance the accuracy of a low-cost spatially distributed passive localisation system. First, error sources are systematically analysed. Moreover, measurement error mitigation and localisation algorithm optimisation are implemented. Experiments show these methods can enhance the accuracy of the localisation system significantly. [ABSTRACT FROM AUTHOR]

Time synchronisation plays an important role in time division multiple access (TDMA) wireless sensor networks (WSNs). Existing time synchronisation methods suffer from cumulative time error and the imbalance of time synchronisation precision, and those factors bring fluctuations to nodes' time and will become worse with the increase of hops, inducing more unstable communication links for sensor nodes. A dual time synchronisation method (DTSM) for WSNs is introduced, which is endowed with the maintenance of two running time sources per node, one for its parent and the other for its sons. This method eliminates the time fluctuations among nodes especially for the nodes with greater hops, so as to obtain more stable links for large-scale networks. This method is implemented on the SCSCRFA1 platform and the results show its validity. [ABSTRACT FROM AUTHOR]