Update README.md

citation added

README.md

@@ -1,21 +1,35 @@
 # Instantaneous Wireless Robotic Node Localization Using Collaborative Direction of Arrival
 
+This repository contains the open-sourced codes and datasets from the below paper published in the IEEE IOT Journal.
+
+# Publication/Citation
+If you use this work, please cite our paper:
+Latif E, Parasuraman R. Instantaneous Wireless Robotic Node Localization Using Collaborative Direction of Arrival. IEEE Internet of Things Journal. 2023 Jul 18.
+
+IEEE Published version: https://ieeexplore.ieee.org/abstract/document/10185556
+Preprint available at: https://arxiv.org/pdf/2307.01956 
+
+# Experiment Demonstration Video
+
+[![Experiment Demo](https://img.youtube.com/vi/jVg2hzouO9E/0.jpg)](https://www.youtube.com/watch?v=jVg2hzouO9E)
+
 ## Overview
-This repository contains the datasets and scripts used in the experimentation for localization algorithm using Wireless signal Collaborative Direction of Arrival (CDOA) estimated using a mobile robot - wireless sensor network (WSN) cooperation mechanism in real-time. Three set of experimentational content is provided in this repository: 1. Simulation (Datasets and Codes), 2. Real-world public datasets from the literature (Dataset1 [1] and Dataset2 [2]), 4. Real Robot Hardware (ROS package and its Dataset). Each content in enclosed in separate folder with the respective name. Simulation scripts generate data internally, However, realworld exprimentation require data files which are included with the respective folder in the repository.
+This repository contains the datasets and scripts used in the experimentation for localization algorithm using Wireless signal Collaborative Direction of Arrival (CDOA) estimated using a mobile robot - -wireless sensor network (WSN) cooperation mechanism in real-time. Three sets of experimentational content is provided in this repository: 1. Simulation (Datasets and Codes), 2. Real-world public datasets from the literature (Dataset1 [1] and Dataset2 [2]), 4. Real Robot Hardware (ROS package and its Dataset). Each content is enclosed in a separate folder with the respective name. Simulation scripts generate data internally. However, real-world experimentation requires data files to be included in the respective folder in the repository.
 
-The proposed localization framework can be visualizes as: 
+The proposed localization framework can be visualized as: 
 
 ![Overview](/images/overview.png)
 
-On the Left, the Wireless Sensor Network (WSN) anchor nodes are placed at the corners and the Mobile Robot can be localized within the WSN's boundary polygon. 
+On the Left, the Wireless Sensor Network (WSN) anchor nodes are placed at the corners, and the Mobile Robot can be localized within the WSN's boundary polygon. 
 
-On the Right, the Access Points (AP) are placed at the corers and the mobile robot can be localized within thie AP boundaries.
+On the Right, the Access Points (AP) are placed at the corners, and the mobile robot can be localized within the AP boundaries.
 
 Although we present the experimental results for the WSN nodes/AP anchors in a specific square/triangular shape, the approach can be generalized to other configurations as long as all the nodes are not colinear.
 
 A hardware demonstration experiment setup is shown below using the configuration of WSN anchor nodes.
 
 ![Hardware Demo](/images/hardware_testbed.png)
+
 ### Real robot localization experimentation
 ![Hardware Demo](/images/PF-DOA-Demo.gif)
 
@@ -25,25 +39,25 @@ Below, we present different datasets and associated robot localization trajector
 
 ### Simulation [Codes and Experimental Datasets]
 
-Simulation experimentations taken place for 6 x 6 meter of bounded region where Access Point is placed on the top of the moving robot and wireless sensor nodes places at the fixed positions (corners) which are (0,0), (0,6), (6,0), and (6,6) respectively. Robot followed three different trajectoriers: Inside, Boundary and Diagonal. For each of the trajectory we predicted the position using multiple localization techniques and proposed approach as well.
+Simulation experimentations taken place for 6 x 6 meter of bounded region where Access Point is placed on the top of the moving robot and wireless sensor nodes places at the fixed positions (corners) which are (0,0), (0,6), (6,0), and (6,6) respectively. The robot followed three different trajectories: Inside, Boundary, and Diagonal. For each of the trajectories, we predicted the position using multiple localization techniques and proposed an approach as well.
 
 ![Combined Trajectory](/images/combined_trajectories.png).
 
-In the Simulation folder there is a separate python script file for each localization technique.
+In the Simulation folder, there is a separate Python script file for each localization technique.
 
-To execute the script run: `$ python3 <script_file>`
+To execute the script, run: `$ python3 <script_file>`
 
 ### Dataset1 [Real-world Public Dataset]
 
-It contains script files same as simulation to run algorithms on data available in csv files.
+It contains script files, same as the simulation, to run algorithms on data available in CSV files.
 
 To execute the script run: `$ python3 <script_file> <dataset file>`
 
-Experimenatation Testbed and datapoints can be visualized as:
+Experimentation Testbed and data points can be visualized as:
 
 ![dataset1](/images/dataset1.png)
 
-The reference at [1] povides details of the dataset completely.
+The reference at [1] provides details of the dataset completely.
 
  ### Dataset2 [Real-world Public Dataset]
 
@@ -72,18 +86,18 @@ Another ROS package named "ros_rssi_collaboration" needs to be installed to run
 To launch the *rssi_collaboration* run: `$ roslaunch rssi_collaboration rssi_collaboration.launch`
 
 Furthemore, a folder contains dataset in the form of rosbags, one can easily extract data rosbags. However, we also have provided dataset int he form of .csv for convinience in the respective folders.
-It also contains script file to run algorithms on data available in csv files.
+It also contains script files to run algorithms on data available in CSV files.
 
-To run localziation over recorded odom and rssi, execute the script run: `$ python3 <script_file> <dataset file>`
+To run localization over recorded Odom and RSSI, execute the script run: `$ python3 <script_file> <dataset file>`
 
 #### Online Localization
-ROS package named "ros_pf_doa_localization" needs to be installed to run the online localization over received  rssi through node collaboration in a synchronous fasion.
+ROS package named "ros_pf_doa_localization" needs to be installed to run the online localization over received RSSI through node collaboration in a synchronous fashion.
 
 To launch the *ros_pf_doa_localization* run: `$ roslaunch ros_pf_doa_localization ros_pf_doa_localization.launch`
 
 It will launch online localization script which receives RSSI from connected nodes and provide real-time pose estimation along with the ground truth.
 
-Experimenatation Testbed and datapoints can be visualized as:
+Experimentation Testbed and data points can be visualized as:
 
 ![trajectories](/ros/trajectories/hardware_experiment_trajectory.png)
 
@@ -104,14 +118,14 @@ Experimenatation Testbed and datapoints can be visualized as:
 
 ## Heterogeneous Robotics (HeRoLab)
 
-**Heterogeneous Robotics Lab (HeRoLab), School of Computing, University of Georgia.** http://hero.uga.edu 
+**Heterogeneous Robotics Lab (HeRoLab), School of Computing, University of Georgia.**  
 
-For further information, contact Ehsan Latif [email protected] or Prof. Ramviyas Parasuraman ramviyas@uga.edu
+For further information, contact Prof. Ramviyas Parasuraman ramviyas @ uga.edu
 
-http://hero.uga.edu/
+https://hero.uga.edu/
 
 <p align="center">
-<img src="http://hero.uga.edu/wp-content/uploads/2021/04/herolab_newlogo_whitebg.png" width="300">
+<img src="https://herolab.org/wp-content/uploads/2021/04/herolab_newlogo_whitebg.png" width="300">
 </p>