Indoors object location protocol in a smart home

This article presents a system for tracking the position of objects within a smart home to support a robot assistant in pick-and-place tasks. The current system is capable of estimating the position of an object using the signal strength received by a mobile device in a ZigBee sensor network. Received strength signal indication measurements were done in laboratory for applying a estimation method. Two models were utilized (a) log-distance path loss - model in which signal lost has a random influence with log-normal distribution, and (b) free space decay law - based on the decay law for a signal on a open space. Experiments with satisfactory results were done with a public dataset to benchmark our data.