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Empirical Path-loss Models for Automated Warehouses

This paper presents two empirical path-loss models suitable for wireless applications in automated warehouses. Based on a large number of measurements from Ocado's Customer Fulfilment Center (CFC), which is an automated warehouse with thousands of “radio-aware” robots, this study proposes and validates empirical path-loss models. The measurements and the modelling are relevant for the 5GHz band and for distances over 200m. The results report the optimized models' parameters and several performance metrics such as R-squared (R2), Mean Squared Error (MSE), Mean Absolute Percentage Error (MAPE), and Mean Absolute Error (MAE). The performance analysis provides guidelines for the suitability of the considered models in similar use-cases.