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: 2016-01-05collection 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.Tracesetkth/rss/indoorIndoor RSS datasetfile: 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 Connectivitymethodology: 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.2015.7353987kth/rss/indoor Traceindoor1: 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/outdoorOutdoor RSS datasetfile: outdoor1.txt.gzdescription: 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 Connectivitymethodology: 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 Traceoutdoor1: 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)

移动机器人在室内外环境下采集的无线电信号强度数据与里程计数据。本数据集包含移动机器人在两种环境下采集的无线电信号强度（Radio Signal Strength，RSS）数据：室内（KTH）与室外（德国多特蒙德）。数据采集采用接收信号强度指示（Received Signal Strength Indicator，RSSI）指标，单位为dBm。移动机器人的位姿通过里程计（航位推算）进行记录。
发布日期：2016年1月5日
采集环境：室内数据采集于瑞典皇家理工学院（KTH）某办公楼5层（地址：Teknikringen 14, 10044 斯德哥尔摩），采集时段为工作日。室外数据采集于德国多特蒙德的废弃钢铁厂（凤凰西区，Phoenix-West），采集期间正值TRADR项目的评估演练阶段（http://www.tradr-project.eu/）。
网络配置：本数据集采用IEEE 802.11n标准的2.4GHz Wi-Fi网络。
数据采集方法：无线电信号强度数据通过RSSI指标以dBm为单位采集。移动机器人的位姿数据通过对应机器人的机器人操作系统（Robot Operating System，ROS）驱动程序进行采集。

轨迹集kth/rss/indoor：室内RSS数据集
文件：indoor1.txt.gz
数据集说明：本数据集为使用youBot移动机器人在室内环境下采集的5个无线接收机的RSS数据。其中4个无线客户端采用定向天线，剩余1个采用全向天线；客户端所连接的无线路由器采用定向天线。
测量用途：网络诊断、教学演示、网络性能分析、定位、机会性连接
详细测量方法可参考以下论文：Caccamo, Sergio; Parasuraman, Ramviyas; Baberg, Fredrik; Ogren, Petter, 《采用无线网络连接信息扩展地面无人平台遥操作模糊逻辑控制界面》，发表于2015年IEEE/RSJ国际智能机器人与系统会议（Intelligent Robots and Systems, IROS 2015），页码4305-4312，2015年9月28日-10月2日，DOI:10.1109/IROS.2015.7353987

kth/rss/indoor 轨迹集indoor1：使用KUKA youBot移动机器人在室内环境下采集的5个无线接收机的RSS数据。其中4个无线客户端采用定向天线，剩余1个采用全向天线；客户端所连接的无线路由器采用定向天线。
配置参数：本数据集为使用KUKA youBot移动机器人在室内环境下采集的5个无线接收机的RSS数据。其中4个无线客户端采用定向天线，剩余1个采用全向天线；客户端所连接的无线路由器采用定向天线。
数据格式：该轨迹文件共包含12列数据，按顺序分别为：时间戳（秒）、时间戳（毫秒）、位置x坐标（米）、位置y坐标（米）、航向角（度）、线速度（米/秒）、角速度（弧度/秒）、RSS1（dBm）、RSS2（dBm）、RSS3（dBm）、RSS4（dBm）、RSS5（dBm）

kth/rss/outdoor：室外RSS数据集
文件：outdoor1.txt.gz
数据集说明：本数据集为移动机器人在半室外环境下采集的无线电信号强度与位姿数据。
测量用途：网络诊断、教学演示、网络性能分析、定位、机会性连接
数据采集方法：数据采集于搭载Bullet M2无线站点的移动机器人。路由器采用另一台Bullet M2设备，作为接入点（Access Point，AP）运行。该AP相对于机器人起始位置的坐标为(-5米,25米)，处于静止状态。

kth/rss/outdoor 轨迹集outdoor1：使用KUKA youBot移动机器人在室内环境下采集的5个无线接收机的RSS数据。其中4个无线客户端采用定向天线，剩余1个采用全向天线；客户端所连接的无线路由器采用定向天线。
配置参数：RSS数据通过在Bullet M2无线站点上执行iwconfig命令采集得到。移动机器人的位姿数据来自机器人的机器人操作系统（ROS）驱动程序。所有数据均以ROS消息格式录制，随后导出为制表符分隔的ASCII文本格式。
数据格式：该轨迹集共包含8列数据，按顺序分别为：时间戳（毫秒）、位置x坐标（米）、位置y坐标（米）、位置z坐标（米）、航向角（弧度）、线速度（米/秒）、角速度（弧度/秒）、RSS（dBm）

搜集汇总

背景与挑战

背景概述

该数据集包含移动机器人在室内（KTH办公室）和室外（多特蒙德废弃钢铁厂）环境中收集的无线电信号强度（RSS）数据，以dBm为单位，并结合机器人的里程计位置信息。数据集分为室内和室外两个部分，室内数据涉及五个无线接收器（使用定向和全向天线），室外数据通过Bullet M2站记录，格式包括时间戳、位置、方向和RSS值，适用于网络诊断、教育、性能分析和定位等应用场景。