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Position sensing systems for indoor environments have one common problem: The setup effort of the whole system. GPS-supported localization is simple and fast to implement and the reference grid is ubiquitous. However, in locations where the signals of GPS are not available, e.g. indoor, or where the technique is not accurate enough, other position sensing systems have to be used. Usually, a reference grid will be provided by an administrator: Reference points must be deployed and programmed with the correct location information. Especially for temporary installations and dynamic surroundings the setup costs are very high. In the authors' paper, they developed a robotic platform, which is capable of deploying itself autonomously and which can operate as a mobile reference point equipped with ultra sound transmitters.
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