WSN	wireless sensor network
GPS	global positioning system
RSSI	received-signal-strength indicator
$\gamma$	path-loss exponent coefficient
$v,\omega$	translational velocity, rotational velocity
${\omega }_r,{\omega }_l$	right-wheel speed, left-wheel speed
$x,y,\theta$	NSBot2’s position in x- direction, y- direction, and heading angle
$t_s$	sampling time (in odometry)
$\mu$	weighting parameter
${\mu }_0^{*},{\mu }_1^{*}$	optimal weighting parameters (error minimizer when $\varphi =0$, error minimizer when $\varphi =1$)
e	transient error (in cm)
$E_T$	total error (in cms)
$\varphi$	indicator for rotational motion
$O{\beta }_N$	$E_T$ based on Proposition 1/Corollary 1 (only in Section 2.4)
${\beta }_T$	localization via Zigbee-based RSSI method with theoretical path-loss model and a moving average filter in Equation (19)
${\beta }_N$	localization via Zigbee-based RSSI method as described in Lemma 1
$O_d$	localization via odometry
$E{K}_f$	localization via extended Kalman filter
$O{\beta }_p$	localization via Proposition 1
$O{\beta }_c$	localization via Corollary 1
$t,t_f,\Delta t_r$	time, execution time, total duration of rotation (in seconds)