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ninja-hu edited this page Jul 30, 2022 · 11 revisions

This page details the technical details of the WSR toolbox components. These will be updated periodically to reflect the most recent toolbox release version.

Sample-hardware-connection

The WSR toolbox is a software implementation of our theoretical framework introduced in our previous work. This framework solves key algorithmic challenges for making the SAR-like approach compatible with general robot platforms and local on-board sensors. The toolbox architecture comprises of the following four major components:

  • WiFi Driver Module. A standalone WiFi driver that is deployed on all robots to collect WiFi phase data.
  • Data Extractor Module. Allows for processing the robot displacement data and WiFi phase data - the key inputs required by the toolbox.
  • AOA Profile Generator. Fuses the processed input data streams to generate the complete AOA profile.
  • Relative Bearing Estimator. Estimates the relative bearing from the calculated AOA profile as well as identifies potential outliers using a profile reliability metric.

Users are recommended to refer the 'System Architecture' section of our IROS 2022 paper Toolbox Release: A WiFi-Based Relative Bearing Framework for Robotics for additional details.

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