Utilization of multiple mobile robots for map based RF access-point placement

This paper presents a way of collecting indoor RF propagation loss data utilizing multiple mobile robots collaborating through double-layered networks. The collected data are used to place wireless access points to maximize coverage with a minimum number of access points. A novel approach is used to navigate multiple robots using grid based maps which is a key issue in mobile robot utilization. Using grid based maps and range-finders to acquire surrounding information and match with a pre-populated information, robot locations are correctly identified. This resolved the problem of weak or no GPS signal in an indoor environment for position determination. The data acquisition strategy is studied without requiring a central source of timing and synchronization f or multiple robots. This is done using script-based robot command execution with exchange of request and response control messages. Lastly, numerical analysis of effects of navigation and data errors and their tolerances for proper interpretation of the collected data is presented.