{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:49:26Z","timestamp":1760240966413,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T00:00:00Z","timestamp":1571616000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a comprehensive study of indoor intruder tracking using visible light communication (VLC). A realistic indoor VLC channel was developed, taking into consideration reflections, shadowing, and ambient noise. The intruder was considered smart and aiming to escape tracking. This was modelled by adding noise and disturbance to the intruder\u2019s trajectory. We propose to extend the application of minimax filtering from state estimation in the radio frequency (RF) domain to intruder tracking using VLC. The performance of the proposed method was examined and compared with Kalman filter for both VLC and RF. The simulation results showed that the minimax filter provided marginally better tracking and was more robust to the adversary behavior of the intruder than Kalman filter, with less than 0.5 cm estimation error. In addition, minimax was significantly better than Kalman filter for RF tracking applications.<\/jats:p>","DOI":"10.3390\/s19204578","type":"journal-article","created":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T11:37:55Z","timestamp":1571657875000},"page":"4578","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Indoor Intruder Tracking Using Visible Light Communications"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4896-2087","authenticated-orcid":false,"given":"Farah","family":"Alsalami","sequence":"first","affiliation":[{"name":"Research Institute for Future Transport and Cities, Coventry University , Coventry CV1 5FB, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zahir","family":"Ahmad","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Environment &amp; Computing, Coventry University, Coventry CV1 5FB, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7902-2143","authenticated-orcid":false,"given":"Stanislav","family":"Zvanovec","sequence":"additional","affiliation":[{"name":"Department of Electromagnetic Field, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka , Prague 16627, Czech Republic"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7249-5116","authenticated-orcid":false,"given":"Paul","family":"Haigh","sequence":"additional","affiliation":[{"name":"Intelligent Sensing and Communications Group, Newcastle University, Newcastle-upon-Tyne NE1 7RU, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4665-2894","authenticated-orcid":false,"given":"Olivier","family":"Haas","sequence":"additional","affiliation":[{"name":"Research Institute for Future Transport and Cities, Coventry University , Coventry CV1 5FB, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8742-118X","authenticated-orcid":false,"given":"Sujan","family":"Rajbhandari","sequence":"additional","affiliation":[{"name":"Research Institute for Future Transport and Cities, Coventry University , Coventry CV1 5FB, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,10,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2047","DOI":"10.1109\/COMST.2015.2476474","article-title":"Visible Light Communication, Networking, and Sensing: A Survey, Potential and Challenges","volume":"17","author":"Pathak","year":"2015","journal-title":"IEEE Commun. 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