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WiFi RSSI Dataset from Mobile Robots in Indoor Environments

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herolab-uga/indoor-rssi-mobile-robot

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Overview

This repository contains the datasets used in particle filter localization of a fixed Wi-Fi Access Point (AP). The datasets contain robot path locations, odometry data, and RSSI measurements captured from a mobile robot with multiple receivers onboard moving in an indoor office environment. The datasets have the same structure and the data is all obtained from within the same environment.

Experimental setup

All data in the datasets is obtained from a 20-meter x 26-meter indoor office hall with multiple rooms. The path taken by the robot, however, is different in the datasets. The robot begins at (0, 0) in all of the datasets and the Wi-Fi AP is located at (9, 0) in every dataset. The robot obtains RSSI measurements using multiple receivers (located at the upper left, upper right, lower left, and lower right corners of the robot and the center of the robot) with directional antennae. The distance from the lower antennae to the upper antennae is 1.2 m and the distance from the right antennae to the left antennae is 1 m. Figure 1 and 2(b) in Ref. [1] will provide an idea of how the Wi-Fi devices are setup onboard the mobile robot.

Below are figures displaying the paths the robot takes in the environment in datasets 1-5, sequentially. The paths for datasets 6 and 7 are not shown as the robot does not move in the x-y plane but instead spins on its axis for a period of time. The red square indicates the starting position of the robot and the green star indicates the position of the Wi-Fi AP. All axis markers are in meters.
dataset1 robot path dataset2 robot path dataset3 robot path dataset4 robot path dataset5 robot path

Dataset structure

The dataset structure is similar to Ref. [2] In fact, the dataset1 in this repository is the same as in the dataset in Ref. [2].

attribute # attribute name attribute description
0 temp_step irregular sequence count
1 temp_sec time stamp in sec.
2 temp_nsec time stamp in nanosec.
3 robot_pos_x robot position (m.) on x-axis with 0 as starting position
4 robot_pos_y robot position (m.) on y-axis with 0 as starting position
5 robot_w_x part of orientation of robot in quaternion format
6 robot_w_y part of orientation of robot in quaternion format
7 robot_w_z part of orientation of robot in quaternion format
8 robot_w_w part of orientation of robot in quaternion format
9 theta_p direction (degrees) of onboard camera
10 UL_level* filtered RSSI value obtained from upper left (FL) antenna
11 UR_level* filtered RSSI value obtained from upper right (FR) antenna
12 LL_level* filtered RSSI value obtained from lower left (BL) antenna
13 LR_level* filtered RSSI value obtained from lower right (BR) antenna
14 C_level* filtered RSSI value obtained from center antenna
15 UL_level_a RSSI value obtained from upper left (FL) antenna
16 UR_level_a RSSI value obtained from upper right (FR) antenna
17 LL_level_a RSSI value obtained from lower left (BL) antenna
18 LR_level_a RSSI value obtained from lower right (BR) antenna
19 C_level_a RSSI value obtained from center antenna
20 Feedback reserved for future use

*filtered RSSI values are calculated from RSSI values as described in eq. (8) of Ref. [1]:

Related publication

This dataset is used in the below paper. Please cite the below paper when you use this dataset repository. Parashar, Ravi, and Ramviyas Parasuraman. "Particle filter based localization of access points using direction of arrival on mobile robots." 2020 IEEE 92nd Vehicular Technology Conference (VTC2020-Fall). IEEE, 2020.

References

[1] S. Caccamo, R. Parasuraman, F. Båberg and P. Ögren, "Extending a UGV teleoperation FLC interface with wireless network connectivity information," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 4305-4312, doi: 10.1109/IROS.2015.7353987. https://ieeexplore.ieee.org/abstract/document/7353987/

[2] Parasuraman R, Caccamo S, Baberg F, Ogren P. CRAWDAD dataset kth/rss (v. 2016-01-05). https://crawdad.org/kth/rss/20160105/indoor/

Contact

For further information, contact Ravi Parashar [email protected] or Prof. Ramviyas Parasuraman [email protected]

Heterogeneous Robotics Lab (HeRoLab), Department of Computer Science, University of Georgia. http://hero.uga.edu