RoboMapper: An Automated Signal Mapping Robot for RSSI Fingerprinting With the everincreasing numbers of mobile devices, locationbased services became a crucial part of mobile development. Many indoor location detection systems are developed to solve positioning problem where satellitebased solutions prone to failure. Among many proposed solutions, fingerprinting technique proved to be the most reliable approach for indoor location. However, it comes with a cost; it entails a timeconsuming learning phase which should be repeated many times during the systemu0027s life time to preserve system accuracy. Thus, we propose an automated signal mapping robot called RoboMapper to alleviate timeconsuming nature of the learning phase of fingerprinting technique. With the help of its accurate distance keeping mechanisms, RoboMapper can construct the signal map of the environment so that the created map can be used for user positioning. Our findings indicate that using RoboMapper 2.68meter positioning accuracy with 70% probability can be achieved.

Evaluation of an indoor localization system for a mobile robot Although indoor localization has been a wide researched topic, obtained results may not fit the requirements that some domains need. Most approaches are not able to precisely localize a fast moving object even with a complex installation, which makes their implementation in the automated driving domain complicated. In this publication, common technologies were analyzed and a commercial product, called Marvelmind Indoor GPS, was chosen for our use case in which both ultrasound and radio frequency communications are used. The evaluation is given in a first moment on small indoor scenarios with static and moving objects. Further tests were done on wider areas, where the system is integrated within our Robotics Operating System (ROS)based selfdeveloped xe2x80x9cSmart PhysIcal Demonstration and evaluation Robot (SPIDER)xe2x80x9d and the results of these outdoor tests are compared with the obtained localization by the installed GPS on the robot. Finally, the next steps to improve the results in further developments are discussed.