@INPROCEEDINGS{7294062, 
author={K. Qiu and F. Zhang and M. Liu}, 
booktitle={2015 IEEE International Conference on Automation Science and Engineering (CASE)}, 
title={Visible light communication-based indoor environment modeling and metric-free path planning}, 
year={2015}, 
volume={}, 
number={}, 
pages={200-205}, 
abstract={For mobile robots and position-based services, localization is the most fundamental capability while path-planning is an important application based on that. A novel localization and path-planning solution based on a low-cost Visible Light Communication (VLC) system for indoor environments is proposed in this paper. A number of modulated LED lights are used as beacons to aid indoor localization additional to illumination. A Gaussian Process (GP) is used to model the intensity distributions of the light sources. Path-planning is hereby feasible by using the GP variance field, rather than using a metric map. Graph-based path-planners are introduced to cope with the practical situations. We demonstrate our path-planning system by real-time experiments performed on a tablet PC in an indoor environment.}, 
keywords={Gaussian processes;graph theory;mobile robots;optical communication;path planning;GP variance field;Gaussian process;VLC system;graph-based path-planners;indoor environment modeling;indoor environments;indoor localization;metric-free path planning;mobile robots;modulated LED lights;position-based services;tablet PC;visible light communication system;Gaussian processes;Heuristic algorithms;Indoor environments;Light sources;Photonics;Robots;Sensors}, 
doi={10.1109/CoASE.2015.7294062}, 
ISSN={2161-8070}, 
month={Aug},}