Biblio

Device-Free Localization and Tracking (DFLT) acts as a key component for the contactless awareness applications such as elderly care and home security. However, the random phase errors in WiFi signal and weak target echoes submerged in background clutter signals are mainly obstacles for current DFLT systems. In this paper, we propose the design and implementation of MuTrack, a multiparameter based DFLT system using commodity WiFi devices with a single link. Firstly, we select an antenna with maximum reliability index as the reference antenna for signal sanitization in which the conjugate operation removes the random phase errors. Secondly, we design a multi-dimensional parameters estimator and then refine path parameters by optimizing the complete data of path components. Finally, the Hungarian Kalman Filter based tracking method is proposed to derive accurate locations from low-resolution parameter estimates. We extensively validate the proposed system in typical indoor environment and these experimental results show that MuTrack can achieve high tracking accuracy with the mean error of 0.82 m using only a single link.

The growing diffusion of robotics in our daily life demands a deeper understanding of the mechanisms of trust in human-robot interaction. The performance of a robot is one of the most important factors influencing the trust of a human user. However, it is still unclear whether the circumstances in which a robot fails to affect the user's trust. We investigate how the perception of robot failures may influence the willingness of people to cooperate with the robot by following its instructions in a time-critical task. We conducted an experiment in which participants interacted with a robot that had previously failed in a related or an unrelated task. We hypothesized that users' observed and self-reported trust ratings would be higher in the condition where the robot has previously failed in an unrelated task. A proof-of-concept study with nine participants timidly confirms our hypothesis. At the same time, our results reveal some flaws in the design experimental, and encourage a future large scale study.