{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T05:56:52Z","timestamp":1775282212665,"version":"3.50.1"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2014,7,18]],"date-time":"2014-07-18T00:00:00Z","timestamp":1405641600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Localization and mapping in indoor environments, such as airports and hospitals, are key tasks for almost every robotic platform. Some researchers suggest the use of Range-Only (RO) sensors based on WiFi (Wireless Fidelity) technology with SLAM (Simultaneous Localization And Mapping) techniques to solve both problems. The current state of the art in RO SLAM is mainly focused on the filtering approach, while the study of smoothing approaches with RO sensors is quite incomplete. This paper presents a comparison between filtering algorithms, such as EKF and FastSLAM, and a smoothing algorithm, the SAM (Smoothing And Mapping). Experimental results are obtained in indoor environments using WiFi sensors. The results demonstrate the feasibility of the smoothing approach using WiFi sensors in an indoor environment.<\/jats:p>","DOI":"10.1017\/s0263574714001908","type":"journal-article","created":{"date-parts":[[2014,7,18]],"date-time":"2014-07-18T13:47:28Z","timestamp":1405691248000},"page":"837-858","source":"Crossref","is-referenced-by-count":15,"title":["WiFi SLAM algorithms: an experimental comparison"],"prefix":"10.1017","volume":"34","author":[{"given":"F.","family":"Herranz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Llamazares","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"E.","family":"Molinos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Oca\u00f1a","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. A.","family":"Sotelo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,7,18]]},"reference":[{"key":"S0263574714001908_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2004639"},{"key":"S0263574714001908_ref26","doi-asserted-by":"crossref","unstructured":"W. Burgard , C. Stachniss , G. Grisetti , B. Steder , R. Kummerle , C. Dornhege , M. Ruhnke , A. Kleiner and J. Tard\u00f3s , \u201cA Comparison of SLAM Algorithms Based on a Graph of Relations,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems 2009 (IEEE Robotics and Automation Society, St. Louis, USA, 2008) pp. 2089\u20132095.","DOI":"10.1109\/IROS.2009.5354691"},{"key":"S0263574714001908_ref25","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008854305733"},{"key":"S0263574714001908_ref24","doi-asserted-by":"publisher","DOI":"10.1145\/1024074.1024079"},{"key":"S0263574714001908_ref15","doi-asserted-by":"crossref","unstructured":"A. Kotanen , M. Hannikainen , H. Leppakoski and T. Hamalainen , \u201cPositioning with Ieee 802.11b Wireless Lan,\u201d Proceedings of the 14th IEEE Conference on Personal, Indoor and Mobile Radio Communications 2003, vol. 3 (IEEE, Beijing, China, 2003) pp. 2218\u20132222.","DOI":"10.1109\/PIMRC.2003.1259110"},{"key":"S0263574714001908_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"S0263574714001908_ref3","doi-asserted-by":"crossref","first-page":"455","DOI":"10.1017\/S0263574705002468","article-title":"WiFi localization methods for autonomous robots","volume":"24","author":"Matell\u00e1n","year":"2006","journal-title":"Robotica"},{"key":"S0263574714001908_ref18","doi-asserted-by":"crossref","unstructured":"E. Olson , J. Leonard and S. Teller , \u201cRobust Range-only Beacon Localization,\u201d Proceedings of the IEEE\/OES Conference on Autonomous Underwater Vehicles 2004 (IEEE Oceanic Engineering Society, 2004) pp. 66\u201375.","DOI":"10.1109\/AUV.2004.1431195"},{"key":"S0263574714001908_ref12","doi-asserted-by":"crossref","unstructured":"J. L. Blanco , J. A. Fernandez-Madrigal and J. Gonzalez , \u201cEfficient Probabilistic Range-only SLAM,\u201d Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE Robotics and Automation Society, Nice, France, 2008) pp. 1017\u20131022.","DOI":"10.1109\/IROS.2008.4650650"},{"key":"S0263574714001908_ref8","doi-asserted-by":"crossref","unstructured":"J. Djugash and S. Singh , \u201cA Robust Method of Localization and Mapping Using Only Range,\u201d Proceedings of the International Symposium on Experimental Robotics 2008 (Springer Tracts in Advanced Robotics, Athens, Greece, 2008) pp. 341\u2013351.","DOI":"10.1007\/978-3-642-00196-3_40"},{"key":"S0263574714001908_ref16","unstructured":"F. Herranz , Simultaneous Localization and Mapping Using Range Only Sensors, Ph.D. Dissertation (Alcal\u00e1 de Henares, Spain: University of Alcal\u00e1, Sep. 2013)."},{"key":"S0263574714001908_ref14","doi-asserted-by":"crossref","unstructured":"J. Huang , D. Millman , M. Quigley , D. Stavens , S. Thrun and A. Aggarwal , \u201cEfficient, Generalized Indoor WiFi Graphslam,\u201d Proceedings of the IEEE International Conference on Robotics and Automation 2011 (IEEE Robotics and Automation Society, Shanghai, China, 2011) pp. 1038\u20131043.","DOI":"10.1109\/ICRA.2011.5979643"},{"key":"S0263574714001908_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"S0263574714001908_ref17","doi-asserted-by":"crossref","unstructured":"J. J. Leonard and H. F. Durrant-Whyte , \u201cSimultaneous Map Building and Localization for an Autonomous Mobile Robot,\u201d Proceedings of the IEEE\/RSJ International Workshop on Intelligent Robots and Systems 1991 (IEEE Robotics and Automation Society, Osaka, Japan, 1991) pp. 1442\u20131447.","DOI":"10.1109\/IROS.1991.174711"},{"key":"S0263574714001908_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/18.910572"},{"key":"S0263574714001908_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005463"},{"key":"S0263574714001908_ref23","doi-asserted-by":"crossref","unstructured":"R. M. Eustice , H. Singh and J. J. Leonard , \u201cExactly Sparse Delayed-state Filters,\u201d Proceedings of the IEEE International Conference on Robotics and Automation 2005 (IEEE Robotics and Automation Society, Barcelona, Spain, 2005) pp. 2417\u20132424.","DOI":"10.1109\/ROBOT.2005.1570475"},{"key":"S0263574714001908_ref4","volume-title":"Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)","author":"Thrun","year":"2005"},{"key":"S0263574714001908_ref28","doi-asserted-by":"crossref","unstructured":"T. Bailey , J. Nieto and E. Nebot , \u201cConsistency of the Fastslam Algorithm,\u201d Proceedings of the IEEE International Conference on Robotics and Automation 2006 (IEEE Robotics and Automation Society, Orlando, USA, 2005) pp. 424\u2013429.","DOI":"10.1109\/ROBOT.2006.1641748"},{"key":"S0263574714001908_ref19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-27579-1_54"},{"key":"S0263574714001908_ref1","doi-asserted-by":"crossref","unstructured":"P. Bahl and V. N. Padmanabhan , \u201cRADAR: An In-Building RF-Based User Location and Tracking System,\u201d Proceedings of the IEEE Infocom 2000, vol. 2 (IEEE Computer and Communications Societies, Tel-Aviv, Israel, 2000) pp. 775\u2013784.","DOI":"10.1109\/INFCOM.2000.832252"},{"key":"S0263574714001908_ref6","volume-title":"Probabilistic Robotics","author":"Thrun","year":"2005"},{"key":"S0263574714001908_ref10","doi-asserted-by":"crossref","unstructured":"J. Djugash , S. Singh and P. Corke , \u201cFurther Results with Localization and Mapping Using Range from Radio,\u201d Proceedings of the International Conference on Field & Service Robotics 2005 (Springer Tracts in Advanced Robotics, Port Douglas, Australia, 2005) pp. 231\u2013242.","DOI":"10.1007\/978-3-540-33453-8_20"},{"key":"S0263574714001908_ref5","unstructured":"M. Montemerlo , S. Thrun , D. Koller and B. Wegbreit , \u201cFastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem,\u201d Proceedings of the AAAI National 2002 (Conference on Artificial Intelligence, Edmonton, Canada, 2002) pp. 593\u2013598."},{"key":"S0263574714001908_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072768"},{"key":"S0263574714001908_ref9","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20311"},{"key":"S0263574714001908_ref11","doi-asserted-by":"crossref","unstructured":"J.-L. Blanco , J. Gonz\u00e1lez and J.-A. Fern\u00e1ndez-Madrigal , \u201cA Pure Probabilistic Approach to Range-only SLAM,\u201d Proceedings of the Internaitonal Conference on Robotics and Automation, Pasadena, USA (May 19\u201323, 2008) pp. 1436\u20131441.","DOI":"10.1109\/ROBOT.2008.4543404"},{"key":"S0263574714001908_ref13","unstructured":"B. Ferris , D. Fox and N. Lawrence , \u201cWifi-slam Using Gaussian Process Latent Variable Models,\u201d Proceedings of the 20th International Joint Conference on Artificial Intelligence 2007, vol. 7 (Hyderabad, India, 2007) pp. 2480\u20132485."},{"key":"S0263574714001908_ref20","doi-asserted-by":"publisher","DOI":"10.1093\/biomet\/57.3.519"},{"key":"S0263574714001908_ref21","unstructured":"M. Montemerlo , S. Thrun , D. Koller and B. Wegbreit , \u201cFastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem,\u201d Proceedings of the National Conference on Artificial Intelligence 2002 (Conference on Artificial Intelligence, Edmonton, Canada, 2002) pp. 593\u2013598."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001908","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,3]],"date-time":"2025-05-03T21:34:34Z","timestamp":1746308074000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714001908\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,18]]},"references-count":30,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2016,4]]}},"alternative-id":["S0263574714001908"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714001908","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,18]]}}}