RELATED WORK
Many works have explored the collection of wireless maps. Initial efforts required exhaustive human effort to manually mark their locations while capturing wireless signals [6]. Location accuracy and timeliness can be improved by deploying grids of dedicated sensor hardware [7], [8], [9]. Attempts to decrease the human effort automate location estimates by using a combination of odometry, magnetometer, and WiFi found in cell phones with an accuracy of 1.69 m [10], [11]. Some efforts have used robots to predictably collect wireless signals [12], [13] but still require human assistance due to lack of autonomous navigation. Our work uses autonomous robots to collect fine-grain wireless maps without any modification to the environment or tedious human effort. Research to understand connectivity issues has typically been from the infrastructure point-of-view as it is much easier