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The active badge location system
ACM Transactions on Information Systems (TOIS)
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AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
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The anatomy of a context-aware application
MobiCom '99 Proceedings of the 5th annual ACM/IEEE international conference on Mobile computing and networking
Monte Carlo localization: efficient position estimation for mobile robots
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Computational principles of mobile robotics
Computational principles of mobile robotics
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
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Proceedings of the 7th annual international conference on Mobile computing and networking
Dynamic fine-grained localization in Ad-Hoc networks of sensors
Proceedings of the 7th annual international conference on Mobile computing and networking
A Probabilistic Approach to Collaborative Multi-Robot Localization
Autonomous Robots
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IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
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PERCOM '03 Proceedings of the First IEEE International Conference on Pervasive Computing and Communications
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VS '00 Proceedings of the Third IEEE International Workshop on Visual Surveillance (VS'2000)
Wireless LAN location-sensing for security applications
WiSe '03 Proceedings of the 2nd ACM workshop on Wireless security
Practical robust localization over large-scale 802.11 wireless networks
Proceedings of the 10th annual international conference on Mobile computing and networking
Modern approaches in modeling of mobile radio systems propagation environment
IEEE Communications Surveys & Tutorials
Mobility modeling, location tracking, and trajectory prediction in wireless ATM networks
IEEE Journal on Selected Areas in Communications
Location Estimation via Support Vector Regression
IEEE Transactions on Mobile Computing
Information Sciences: an International Journal
Proceedings of the 3rd international conference on Mobile multimedia communications
Indoor localization based on response rate of bluetooth inquiries
Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
Context-aware systems: A literature review and classification
Expert Systems with Applications: An International Journal
Context-aware system for proactive personalized service based on context history
Expert Systems with Applications: An International Journal
WBLS: A signal presence-based Wi-Fi localisation system for mobile devices in smart environments
International Journal of Knowledge-based and Intelligent Engineering Systems - Intelligent agents and services for smart environments
2.5D infrared range and bearing system for collective robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
WiFi localization system based on fuzzy logic to deal with signal variations
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Simulation-based analysis for a heterogeneous indoor localization scheme
CCNC'10 Proceedings of the 7th IEEE conference on Consumer communications and networking conference
Sybot: an adaptive and mobile spectrum survey system for wifi networks
Proceedings of the sixteenth annual international conference on Mobile computing and networking
Enhancing WLAN location privacy using mobile behavior
Expert Systems with Applications: An International Journal
Managing workplace resources in office environments through ephemeral social networks
UIC'10 Proceedings of the 7th international conference on Ubiquitous intelligence and computing
Personalization and content awareness in online lab - virtual computational laboratory
ACIIDS'11 Proceedings of the Third international conference on Intelligent information and database systems - Volume Part I
Tracking via Square Grid of RFID Reader Positioning and Diffusion Algorithm
Wireless Personal Communications: An International Journal
Use of RSSI and time-of-flight wireless signal characteristics for location tracking
Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments
WLAN location-aware application based on accumulated orientation strength algorithm
EuroSSC'06 Proceedings of the First European conference on Smart Sensing and Context
AWESOM: automatic discrete partitioning of indoor spaces for wifi fingerprinting
Pervasive'12 Proceedings of the 10th international conference on Pervasive Computing
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A key subproblem in the construction of location-aware systems is the determination of the position of a mobile device. This article describes the design, implementation and analysis of a system for determining position inside a building from measured RF signal strengths of packets on an IEEE 802.11b wireless Ethernet network. Previous approaches to location-awareness with RF signals have been severely hampered by non-Gaussian signals, noise, and complex correlations due to multi-path effects, interference and absorption. The design of our system begins with the observation that determining position from complex, noisy and non-Gaussian signals is a well-studied problem in the field of robotics. Using only off-the-shelf hardware, we achieve robust position estimation to within a meter in our experimental context and after adequate training of our system. We can also coarsely determine our orientation and can track our position as we move. Our results show that we can localize a stationary device to within 1.5 meters over 80% of the time and track a moving device to within 1 meter over 50% of the time. Both localization and tracking run in real-time. By applying recent advances in probabilistic inference of position and sensor fusion from noisy signals, we show that the RF emissions from base stations as measured by off-the-shelf wireless Ethernet cards are sufficiently rich in information to permit a mobile device to reliably track its location.