text: The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a robot's location as it navigates. The accuracy of such a beacon-based localization system depends both on how beacons are distributed in the environment, and how the robot's location is inferred based on noisy and potentially ambiguous measurements. We propose an approach for making these design decisions automatically and without expert supervision, by explicitly searching for the placement and inference strategies that, together, are optimal for a given environment. Since this search is computationally expensive, our approach encodes beacon placement as a differential neural layer that interfaces with a neural network for inference. This formulation allows us to employ standard techniques for training neural networks to carry out the joint optimization. We evaluate this approach on a variety of environments and settings, and find that it is able to discover designs that enable high localization accuracy.
  @cite_23: Location aware services are becoming attractive with the deployment of next generation wireless networks and broadband multimedia wireless networks especially in indoor and campus areas. To provide location aware services, obtaining the position of a user accurately is important. While it is possible to deploy additional infrastructure for this purpose, using existing communications infrastructure is preferred for cost reasons. Because of technical restrictions, location fingerprinting schemes are the most promising. In this paper we present a systematic study of the performance tradeoff and deployment issues. In this paper we present some experimental results towards such a systematic study and discuss some issues related to the indoor positioning problem.
summary: A common approach to localization within existing radio frequency (RF)-based beacon networks is to use the received signal strength (RSS) as a fingerprint that is matched against a database of RSS-location pairs to determine the receiver's location @cite_23 . This database is typically generated manually via a site-survey,