Impact of Motion and Channel Parameters on the Estimation of Transmitter Position in Robotic Networks

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In this paper, the authors study the impact of the motion of a mobile robot as well as the underlying parameters of the channel on the estimation of the transmitter position in a networked robotic operation. They consider the case that the robot gathers a number of Received Signal Strength (RSS) measurements from a fixed transmitter along its trajectory and use them to estimate the position of the transmitter. They first mathematically characterize two metrics for the estimation performance of the transmitter position: the Cramer-Rao Lower Bound (CRLB) and the error covariance matrix of a Least Square (LS) estimator.