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WiFi GraphSLAM in 1-D Jose Roberto Ayala Solares1 . 1Division of Mathematical and Computer Sciences and Engineering (MCSE) King Abdullah University of Science and Technology (KAUST) Thuwal, Mekkah Province, Saudi Arabia jose.solares@kaust.edu.sa ME410 / EE396 Probabilistic Methods in Robotics and Control Dr. Abubakr Muhammad August 2, 2011 1 Introduction In mobile robotics, a very active area of research in recent years deals with the capacity of a robot to build a map of the environment and to simultaneoulsy localize itself within this map in absence of external referencing systems such as GPS. This scenario is the so-called simultaneous localization and mapping (SLAM) problem [1, 2, 3]. Solving the SLAM problem consists of estimating the robot trajectory and the map of the environment as the robot moves in it [3], as shown in Fig. 1. One common approach to solving the SLAM problem is to use a Kalman filter [1, 2]. A simple idea for this approach is to assume an omnidirectional motion model for the robot that has sensors capable of uniquely identifying each landmark and providing a measurement of the relative displacement between the vehicle and the landmark [1]. A graph-based SLAM approach constructs a simplified estimation problem by abstracting the raw measuraments. These raw measurements are replaced by the edges in a graphical model which can then be seen as “virtual measurements”. Each edge between two nodes is labeled with a probability distribution over the relative locations of the two poses, conditioned to their mutual measurements [3]. 1 Figure 1: Solution