Physically localizing unauthorized wireless devices remains a critical bottleneck in cyber-physical security operations, where rogue access points can provide entry points for lateral movement and persistent compromise. While such devices can often be detected through network-side mechanisms, determining their physical location typically requires dense sensing infrastructure, site-specific RF fingerprinting, or manual inspection, limiting timely incident response. We investigate whether a single commodity robot can autonomously detect and localize rogue wireless devices under zero-configuration constraints, without RF fingerprinting, pre-installed sensors, or site calibration. We present RogueRover, an end-to-end system in which a quadruped robot autonomously patrols, collects spatially labeled RSSI measurements via a standard 802.11 interface, and estimates device locations offline. We evaluate the system across 11 patrol runs in a real indoor environment, with 6 rogue devices deployed under heterogeneous propagation conditions. Across 62 AP-patrol sessions, RogueRover achieves a median single-patrol localization error of 1.62 m without prior RF knowledge. Under multi-run aggregation, five of six devices are localized within 1 m. A blind trial validates the full pipeline, correctly identifying rogue devices among 73 observed BSSIDs and localizing them with errors of 0.34 m and 1.84 m. Across environments, simple weighted-centroid estimators perform comparably to, or better than, parametric path-loss models, indicating that measurement coverage from autonomous patrols is the primary determinant of localization accuracy under zero-prior constraints. Our results demonstrate that infrastructure-free, autonomous localization is feasible in practice, enabling rapid physical incident response in cyber-physical environments without additional sensing infrastructure.
Indoor localization from wireless measurements remains challenging in large-scale deployments due to substantial variation in building geometry, the set of detectable access points (APs), and the heterogeneity of received signals. Existing learning-based methods often perform well only in limited settings and degrade under environmental shifts, making robust anchor-free localization across diverse indoor environments notoriously difficult. In this paper, we present OmniLoc, an environment-interactive foundation model for anchor-free user equipment localization across diverse indoor environments. To the best of our knowledge, OmniLoc is the first foundation-model-based approach built directly on wireless measurements for this task. OmniLoc is built on three key designs. First, a unified input tokenization module converts heterogeneous wireless measurements into a common representation that is more amenable to learning. Second, a geometry-aware Transformer performs AP-aware feature extraction by emphasizing dominant APs while aggregating complementary evidence from supporting APs. Third, a geometry-aware location estimation module conditions regression on geometric embeddings to produce geometrically consistent location predictions. We evaluate OmniLoc on both a large-scale in-house dataset and a public benchmark dataset. Results show that OmniLoc significantly outperforms existing methods, consistently improves existing backbones when its design components are integrated, and demonstrates strong generalization in cross-environment evaluations.
Wireless localization is a fundamental capability of sixth-generation (6G) networks. Conventional model-based methods require accurate modeling of the propagation environment and degrade in complex multipath and non-line-of-sight scenarios, while learning-based methods couple model parameters tightly to the training scene, requiring costly retraining whenever the base station (BS) configuration or propagation environment changes. In this paper, we propose RA-LWLM, a retrieval-augmented in-context localization framework that achieves training-free cross-scene adaptation by externalizing scene-specific information into a per-scene fingerprint database rather than encoding it in model weights. The framework consists of three components: a frozen wireless foundation model (FM) encoder that maps raw channel state information into a scene-agnostic representation; a retrieval module that selects the most informative references from the per-scene database via similarity search in the representation space; and a transformer-based in-context learning (ICL) module that fuses the query with the retrieved references to predict the user equipment (UE) position. To accommodate varying retrieval quality and propagation complexity across queries, the ICL module adopts a mixture-of-experts design in which experts specialize in different context sizes and are softly combined by a learnable selector. Extensive ray-tracing-based experiments across heterogeneous scenes with diverse BS configurations show that RA-LWLM achieves nearly identical accuracy on seen and unseen scenes without any per-scene retraining, substantially outperforming end-to-end and FM-based baselines. These results validate the proposed retrieval-augmented in-context paradigm as a scalable solution for cross-scene localization in 6G networks.
Ultra-Wideband (UWB) ranging has become a viable option for industrial Autonomous Mobile Robot (AMR) localization due to improved accuracy and low cost. However, real-world deployments remain limited by two recurring challenges: calibrating static anchors can be time-consuming and error-prone, and integrating UWB with existing onboard sensors requires careful design to ensure robust and consistent pose estimation. Addressing these challenges, this paper presents an end-to-end pipeline that combines automatic anchor calibration with a generic multi-sensor estimator tailored to surface-bound vehicle motion. It targets existing AMR stacks in scenarios where robot pose priors are available for initialization. The calibration stage estimates anchor positions and range biases, while the localization stage fuses UWB with proprioceptive sensing in a bias-aware Extended Kalman Filter to improve consistency without extensive parameter tuning. Experiments on a commercial logistics AMR in a warehouse setting demonstrate accurate positioning indoors and across outdoor transitions, with improved consistency compared to an earlier estimator formulation. Evaluation on an independent forklift dataset further indicates transferability to other platforms. The method remains effective in test cases with limited line-of-sight and sparse anchor coverage. These results show that UWB localization can be deployed with substantially reduced manual effort while preserving the accuracy required for industrial AMRs. The collected warehouse dataset is made publicly available.