This folder contains data from experimental runs with Multispectral
Solutions, Inc (www.multispectral.com) ultra-wideband ranging radios. 
All runs have four stationary nodes ranging to a single moving (on robot)
(or stationary) target node. The data are given in MATLAB format.

These sets were used in:
G. Hollinger, J. Djugash, and S. Singh, "Tracking a Moving Target in 
Cluttered Environments with Ranging Radio", ICRA 2008.

More data files are available.  
E-mail Geoff Hollinger (gholling@ri.cmu.edu) or 
       Joseph Djugash (robojoe@cmu.edu).

Files and format 

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NSH3_cross: 30m x 30m environment. Robot moves at 0.3 m/s in a cross.

Data file: NSH3_cross.mat (world coordinates)
R = Ranges -- (time, node1, node2, range(meters), variance estimate(meters^2))
O = Odometry -- (time, x, y, theta).
Loc = Localization from laser -- (time, x, y, theta)

Convert from world to image coordinates: 
(x_image,y_image) = (x_world*10,rows-y_world*10)

Environment PPM: NSH3_cross.ppm
Node locations (image coordinates): 0 (Mobile)
				    1 (277, 220)
				    2 (134, 278)
				    3 (188, 20)
				    4 (29, 91)
--------------------------------------------------------------------------

NSH3_short: 45m x 30m environment. Robot moves at 0.3 m/s in a loop.

Data file: NSH3_short.mat (world coordinates)
R = Ranges -- (time, node1, node2, range(meters), variance estimate (meters^2))
O = Odometry -- (time, x, y, theta).
Loc = Localization from laser -- (time, x, y, theta)

Convert from world to image coordinates: 
(x_image,y_image) = (x_world*10,rows-y_world*10)

Environment PPM: NSH3_short.ppm
Node locations (image coordinates): 0 (Mobile)
				    1 (446, 217)
				    2 (303, 275)
				    3 (71, 216)
				    4 (198, 88)
--------------------------------------------------------------------------
NSH3_full: 60m x 30m environment. Robot moves at 0.3 m/s in a loop.

Data file: NSH3_full.mat (world coordinates)
R = Ranges -- (time, node1, node2, range(meters), variance estimate(meters^2))
O = Odometry -- (time, x, y, theta).
Loc = Localization from laser -- (time, x, y, theta)

Convert from world to image coordinates: 
(x_image,y_image) = (x_world*10,rows-y_world*10)

Environment PPM: NSH3_full.ppm
Node locations (image coordinates): 0 (Mobile)
				    1 (441, 180)
				    2 (68, 174)
				    3 (650, 182)
				    4 (200, 43)
--------------------------------------------------------------------------

NSH3_full_2: 60m x 30m environment. Robot moves at 0.3 m/s in a loop.

Data file: NSH3_full_2.mat (world coordinates)
R = Ranges -- (time, node1, node2, range(meters), variance estimate(meters^2))
O = Odometry -- (time, x, y, theta).
Loc = Localization from laser -- (time, x, y, theta)

Convert from world to image coordinates: 
(x_image,y_image) = (x_world*10,rows-y_world*10)

Environment PPM: NSH3_full_2.ppm
Node locations (image coordinates): 0 (Mobile)
				    1 (441, 180)
				    2 (68, 174)
				    3 (650, 281)
				    4 (274, 125)
--------------------------------------------------------------------------

NSH3_full_fast: 60m x 30m environment. Robot moves at 0.6 m/s in a loop.

Data file: NSH3_full_fast.mat (world coordinates)
R = Ranges -- (time, node1, node2, range(meters), variance estimate(meters^2))
O = Odometry -- (time, x, y, theta).
Loc = Localization from laser -- (time, x, y, theta)

Convert from world to image coordinates: 
(x_image,y_image) = (x_world*10,rows-y_world*10)

Environment PPM: NSH3_full_fast.ppm
Node locations (image coordinates): 0 (Mobile)
				    1 (441, 180)
				    2 (68, 174)
				    3 (650, 182)
				    4 (200, 43)
--------------------------------------------------------------------------

NSH3_stat_x: Eight runs with all stationary nodes (different configs).

Data files: NSH3_stat_x.mat
R = ranges -- (time, node1, node2, range(meters), variance estimate(meters^2))

Environment PPM: NSH3_stat.ppm

Node locations (image coordinates):
NSH3_stat_1.mat
0 (532, 178)
1 (441, 180)
2 (68, 174)
3 (650, 182)
4 (200, 43)
NSH3_stat_2.mat
0 (427, 244)
1 (441, 180)
2 (68, 174)
3 (650, 182)
4 (200, 43)
NSH3_stat_3.mat
O (427, 244)
1 (441, 180)
2 (68, 174)
3 (650, 281)
4 (274, 125)
NSH3_stat_4.mat
O (532, 178)
1 (441, 180)
2 (68, 174)
3 (650, 281)
4 (274, 125)
NSH3_stat_5.mat
O (450 171)
1 (441, 180)
2 (68, 174)
3 (650, 182)
4 (200, 43)
NSH3_stat_6.mat
O (312, 173)
1 (441, 180)
2 (68, 174)
3 (650, 182)
4 (200, 43)
NSH3_stat_7.mat
O (312, 173)
1 (441, 180)
2 (68, 174)
3 (650, 281)
4 (274, 125)
NSH3_stat_8.mat
O (450, 171)
1 (441, 180)
2 (68, 174)
3 (650, 281)
4 (274, 125)

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