CRAWDAD kth/rss

Radio Signal Strength data from a mobile robot along with odometer in indoor and outdoor environments 

This dataset contains the RSS (Radio Signal Strength) data collected with a mobile robot in two environments: indoor (KTH) and outdoor (Dortmund). RSSI metric was used to collect the RSS data in terms of dBm. The mobile robot location was recorded using its odometry (dead reckoning).

release date: 2016-01-05

collection environment: The indoor data was collected at the 5th floor of one of KTH's office building (Teknikringen 14, 10044 Stockholm) during working hours. The outdoor data was collected at an abandoned steel factory in Dortmund (Phoenix-West), Germany during an Evaluation exercise of TRADR project (http://www.tradr-project.eu/).

network configuration: IEEE 802.11n Wi-Fi 2.4GHz network was used in the dataset.

data collection methodology: The RSS was collected using the RSSI metric in dBm. The mobile robot data such as position and orientation was collected with the help of Robot Operating System (ROS) drivers of the respective robot.

Traceset

kth/rss/indoor

Indoor RSS dataset

• file: indoor1.txt.gz 
• description: RSS data of five wireless receivers in indoor environment using the youBot mobile robot. Four of the wireless clients used directional antenna while the remaining one used omnidirectional antenna. The wireless router to which the client were connected used directional antenna.
• measurement purpose: Network Diagnosis, Educational Use, Network Performance Analysis, Localization, Opportunistic Connectivity
• methodology: Full details on the measurements are available in the paper : Caccamo, Sergio; Parasuraman, Ramviyas; Baberg, Fredrik; Ogren, Petter, "Extending a UGV teleoperation FLC interface with wireless network connectivity information," in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on , vol., no., pp.4305-4312, Sept. 28 2015-Oct. 2 2015 doi:10.1109/IROS.2015.7353987

kth/rss/indoor Trace

• indoor1: RSS data of five wireless receivers in indoor environment using the KUKA youBot mobile robot. Four of the wireless clients used directional antenna while the remaining one used omnidirectional antenna. The wireless router to which the client were connected used directional antenna.
• configuration: RSS data of five wireless receivers in indoor environment using the KUKA youBot mobile robot. Four of the wireless clients used directional antenna while the remaining one used omnidirectional antenna. The wireless router to which the client were connected used directional antenna.
• format: The trace contains 12 columns each describing the following in order: Timestamp:seconds, Timestamp:milliseconds, position:x(m), position:y(m), orientation(degrees), velocity:linear(m/s), velocity:angular(rad/s), RSS1(dBm), RSS2(dBm), RSS3(dBm), RSS4(dBm), RSS5(dBm)

kth/rss/outdoor

Outdoor RSS dataset

• file: outdoor1.txt.gz
• description: Dataset of Radio Signal Strength and location data collected from a mobile robot in an semi-outdoor environment.
• measurement purpose: Network Diagnosis, Educational Use, Network Performance Analysis, Localization, Opportunistic Connectivity
• methodology: The dataset is recorded on a mobile robot on which a Bullet M2 wireless station is connected. The router used is another Bullet M2 acting as an Access Point (AP). The AP is stationary at (-5m,25m) with respect to the robot's starting position.

kth/rss/outdoor Trace

• outdoor1: RSS data of five wireless receivers in indoor environment using the KUKA youBot mobile robot. Four of the wireless clients used directional antenna while the remaining one used omnidirectional antenna. The wireless router to which the client were connected used directional antenna.
• configuration: The RSS data is collected using the iwconfig command on the Bullet M2 station. The mobile robot position data is from the robots Robot Operating System (ROS) drivers. All data are recorded as ROS messages and then extracted to tab separated ASCII format.
• format: The traceset contains 8 columns each describes the following in order: Timestamp(ms), position:x(m), position:y(m), position:z(m), orientation(rad), velocity:linear(m/s), velocity:angular(rad/s), RSS (dBm)