Canedo Rodríguez, AdriánRodríguez, José ManuelÁlvarez Santos, VíctorIglesias Rodríguez, RobertoVázquez Regueiro, Carlos2018-11-142018-11-142015Canedo-Rodriguez, A.; Rodriguez, J.M.; Alvarez-Santos, V.; Iglesias, R.; Regueiro, C.V. Mobile Robot Positioning with 433-MHz Wireless Motes with Varying Transmission Powers and a Particle Filter. Sensors 2015, 15, 10194-102201424-8220http://hdl.handle.net/10347/17707In wireless positioning systems, the transmitter’s power is usually fixed. In this paper, we explore the use of varying transmission powers to increase the performance of a wireless localization system. To this extent, we have designed a robot positioning system based on wireless motes. Our motes use an inexpensive, low-power sub-1-GHz system-on-chip (CC1110) working in the 433-MHz ISM band. Our localization algorithm is based on a particle filter and infers the robot position by: (1) comparing the power received with the expected one; and (2) integrating the robot displacement. We demonstrate that the use of transmitters that vary their transmission power over time improves the performance of the wireless positioning system significantly, with respect to a system that uses fixed power transmitters. This opens the door for applications where the robot can localize itself actively by requesting the transmitters to change their power in real timeeng© 2015 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license ( http://creativecommons.org/licenses/by/4.0/)Atribución 4.0 Internacionalhttp://creativecommons.org/licenses/by/4.0/Wireless localizationWiFi localizationMotesParticle filtersRobot localizationjournal article10.3390/s150510194open access