In this website, we release some of our wireless channel measurements, which can be useful for the research community working on different aspects of multi-agent systems, communication-aware robotics, wireless communications/networking, and robotic networks.
The following wireless channel measurements are collected indoor over a floor along several routes. The figure shows the floor plan as well as the regions where the measurements were taken. The triangular symbol shows the position of the transmitter. The position of the origin is also marked. Measurements are made in different regions marked by R.
If you have any questions or comments regarding this dataset, please contact Herbert Cai.
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Measurement Details
The channel measurements were taken along a total of 67 routes. The details can be found in the document below. For example, Region 1 (R1) contains the measurements taken along Routes 1-13.
Details on the hardware and software used in the data collection process can be found in the following paper (Section 2).
A. Gonzalez-Ruiz, A. Ghaffarkhah, and Y. Mostofi, "A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems," Journal of Robotics, vol. 5, October 2011. [pdf]
Data Download
The data can be downloaded from the link below, which can be loaded into Matlab with the command "load(file_name, '-ascii')".
Credits and Usage
This dataset can be used for academic purposes only.
If you have used this dataset for your work, please acknowledge this website at http://dx.doi.org/10.21229/M9159S and cite the following paper:
A. Gonzalez-Ruiz, A. Ghaffarkhah, and Y. Mostofi, "A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems," Journal of Robotics, vol. 5, October 2011.
@article{JRobotics11,
title={{A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems}},
author={A. Gonzalez-Ruiz, A. Ghaffarkhah, and Y. Mostofi},
journal={Journal of Robotics},
year={2011},
volume={5},
pages={19}}
Bibtex link for this website:
@misc{channel_data_2009,
title={{Mostofi-Lab Wireless Channel Measurements (2009)}},
howpublished = {\url{http://dx.doi.org/10.21229/M9159S}}}
Related Works
These related papers show how this data have been utilized in research and may be of interest:
On understanding wireless channel predictability:
M. Malmirchegini and Y. Mostofi, "On the Spatial Predictability of Communication Channels," IEEE Transactions on Wireless Communications, vol.11, no.3, pp. 964-978, March 2012. [pdf]
On communication-aware robotics:
A. Ghaffarkhah and Y. Mostofi, "Communication-Aware Motion Planning in Mobile Networks," IEEE Transactions on Automatic Control, special issue on Wireless Sensor and Actuator Networks, vol. 56, no. 10, pp. 2478-2485, October 2011. [pdf]
A. Ghaffarkhah and Y. Mostofi, "Path Planning for Networked Robotic Surveillance," IEEE Transactions on Signal Processing, vol. 60, no. 7, pp. 3560-3575, July 2012. [pdf]
Y. Yan and Y. Mostofi, "Robotic Router Formation in Realistic Communication Environments," IEEE Transactions on Robotics, vol. 28, no. 4, pp. 810-827, August 2012. [pdf]