Sensor Configuration

Some deployment considerations when mounting and configuring the sensors before data collection:

WiFi driver setup

All the robots need to setup the WiFi Driver for data collection since the CSI data is logged on both the transmitting and receiving robot locally.

Collecting CSI data files

Our current formulation required pairing the forward packets (CSI data on transmitting robot) and backward packets (CSI data on the receiving robot). Since these are two separate .dat files stored on different robots, it is required to use a separate communication backbone network to transfer the files from all the transmitting robots to the receiving robot (e.g via ssh). The toolbox, which is running on the receiving robot can refer the file locations as mentioned in the configuration parameters pertaining to input data information to read the CSI data files. Engineering solutions to transferring the CSI data files without relying on the backbone communication network are left for future work.

Collecting robot displacement information

Our toolbox is compatible with any pose estimation sensors or framework as long as the displacement input is provided in the required format. We note that the displacement of the radio antenna mounted on the robot needs to be calculated. The configuration file parameter antenna position offset enables updating the offset between the robot's displacement sensors center and the tip of the antenna. Since the toolbox itself is not a ROS package, the displacement information needs to be stored in a csv file which then can be accessed by the toolbox using the configuration parameters pertaining to input data information. Once ROS support is added, the toolbox can directly an internal callback function to save the pose data of a robot obtained using corresponding ROS packages.