Signal-based deployment planning for robot teams in tunnel-like fading environments
International Journal of Robotics Research
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This paper reports the results of measurements of 900 MHz narrow-bandradio wave propagation in four tunnels with pedestrians and vehicles.Analysis of the measured data files shows that the power distance factorranges from 1.87 to 4.44. The power attenation rate with distance isinsensitive to the location of the transmit antenna in the cross section ofa tunnel, but the transmit antenna insertion loss is. The log-normaldistribution fits slow variation of the received signals. The Raciandistribution closely describes fast fading in the straight sections oftunnels. However, the Rayleigh distribution does not fit the fast fading inthe curved sections of tunnels, as expected.