- Did you try GPS instead of Wi-Fi?
- Why did you use the classic method?
- What were the difficulties you faced in the porting process?
- Where did you get your RSSI distance equation?
- Was the RSSI at one meter a single measurement or an average of several measurements?
- What did you do when the signal was not stable?
- What distance did you use in a big room?
- How dense did the reference nodes need to be?
- Have you tested the network settings with furniture in the room?
- How did you train the system with some sample data?
- How could you improve the localization?
- How did you know the routing information?
- Did you use different devices to collect signal strength data? If so, what was the difference in performance?
- Is there any problem if the robot calibration changes from day to day?
- Why did you choose a light sensor and an accelerometer?
- If you did this demo in dim light, would it affect the performance?
- If the room had a window, would it make a difference?
- If you block the light, will the system be affected?
- Since it was very tedious work to collect signal strength data, would it have helped to program the robot to do some of the work?
- What was the level of accuracy you used to determine the best grid cell size?
- Why did it work better indoors than it did outdoors?
- Is the localization affected by the door being open or closed?
- If the grid cell size is larger, how does that affect the accuracy?
- Do you always keep a recursive average?
- Did you ever think about using multiple sensors to receive signals?
- If you were to use multiple sensors to receive signals, how would you deal with collisions?
- Are you limited to using a fixed route scenario?
- Is the 6 second delay setting an ad hoc value (i.e., designed just for this problem), or is there another reason for it?
- Have you thought about privacy issues?
- How can you make sure none of the owner's private information is disclosed?
- How do you address user privacy with the accelerometer and the light sensors?
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