Scope: Mobile networks, such as SensorFly, need to be controlled. These control algorithms need to be reasonably secure and resilient to errors. Use statistical ranking of each device's measurement to both attacks more difficult and inaccurate measurements less influential in the system.
Outcomes: 1. Algorithm that takes into account noise associated with measurement error using statistical methods. 2. Rank trustiness of the collaborative neighbor and rank the data received using statistical methods. 3. An implementation of audio collaborative localization that uses noisy ambient sound measurements.