Experimental characterization of radio signal propagation in indoor environments with application to estimation and control

Authors:
Jonathan Fink;Nathan Michael;Alex Kushleyev;Vijay Kumar
Affiliations:
University of Pennsylvania, Philadelphia, Pennsylvania;University of Pennsylvania, Philadelphia, Pennsylvania;University of Pennsylvania, Philadelphia, Pennsylvania;University of Pennsylvania, Philadelphia, Pennsylvania
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
Cited 0

Robotics-based location sensing using wireless ethernet

Proceedings of the 8th annual international conference on Mobile computing and networking
Maintaining network connectivity and performance in robot teams: Research Articles

Journal of Field Robotics - Special Issue on Search and Rescue Robots
Relative location estimation in wireless sensor networks

IEEE Transactions on Signal Processing

Quantified Score

Hi-index	0.00

Visualization

Abstract

We study radio signal propagation in indoor environments using low-power devices leveraging the Zigbee and Bluetooth specifications. We present results from experiments where two robots equipped with radio signal devices and enabled to control and localize autonomously in an indoor hallway and laboratory environment densely sample RSSI at various times over several days. We show that simulated RSSI measurements using existing radio signal models and experimentally gathered RSSI measurements match closely, suggesting that for robotics applications requiring predicted RSSI, low-power radio signal devices are a well-posed sensing modality.