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Autonomous indoor mobile robots are gaining increasing popularity for the shared use in military and civil applications. Recently aerial or ground robots of various shapes and sizes have been developed for quick detection and observation of circumstances in calamity environments such as indoor fire spots [1, 2]. In an indoor environment, however, weak reception of GPS signals has posed additional challenges to the operation of the robots. Therefore less expensive self-localization with unaided external sensors is one of the most important problems in popularizing indoor mobile robot products.

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随着计算机网络的蔓延，无线局域网(wLAN)成为高速发展的无线通信技术 在计算机网络中的通信移动性、多媒体应用等的实现手段。无线局域网作为有线 网络的延伸及重要补充，其安全问题也是人们关注的焦点 无线网络的射频(RF) 数据传送方式更使其信息及网络安全问题显得尤为突出。 -WiththedeveloPmentofeomPuternetworKwirelessloealareanetwork(WLAN) inereasesextensivelyintheaPPlieationofnetworkforitseasydePloymenttoaecess towirednetwork.TheseeurityProblemsofWLANshouldbethefocusofnetwork too.However，itssafetyissuesareevenmoreseriouswhenwerefertoitsRF(Radio Frequeney)transmission.

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