Software for Real-Time FTM-based Victim Positioning Using Heterogeneous Robots in Remote and Outdoor Scenarios.
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Description: Repositorio y datos en crudo de los experimentos (ROSbag)
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Bravo-Arrabal, J., Álvarez-Merino, C. S., Toscano-Moreno, M., Serón-Barba, J., Fernandez-Lozano, J. J., Gómez-Ruiz, J. A., ... & Garcia-Cerezo, A. (2025). Real-Time FTM-based Victim Positioning System Using Heterogeneous Robots in Remote and Outdoor Scenarios. IEEE Access. https://dx.doi.org/10.1109/ACCESS.2025.3570203
Abstract
Accurate victim localization in Remote, Outdoor, Unstructured, and Disaster (ROUD) scenarios remains a significant challenge due to limited infrastructure, complex terrains, and time constraints inherent in Search and Rescue (SAR) operations. This article introduces an innovative real-time positioning system that leverages Fine Time Measurement (FTM), a feature of the IEEE 802.11mc amendment, to detect WiFi-enabled devices typically carried by potential victims. The system integrates a Hybrid Wireless Sensor Network (H-WSN) composed of static and mobile anchors mounted on Uncrewed Ground and Aerial Vehicles (UGVs and UAVs), within a Robot Operating System (ROS)-based architecture. A centralized Feedback Information System (FIS) processes real-time RTT data from the field, executes a multilateration algorithm, and provides live geolocation updates to SAR coordinators.
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Except where otherwised noted, this item's license is described as Attribution 4.0 Internacional