Fig. 1. Architecture of the indoor MRIC system.

Fig. 2. Measurement on the DA of the LED chip.

Fig. 3. (a) Measurement on the FOV of PD chips. (b) PD arrays for circumferential receiving: triangle-arranged S1337 array, square-arranged S1226 array, and hexagon-arranged S6968 array (Hamamatsu).

Fig. 4. Schematic diagram of the electrical adaption circuit modules.

Fig. 5. Structure of the management sub-system.

Fig. 6. Experimental platform of the management sub-system.

Fig. 7. Experimental platform of the robot sub-systems.

Fig. 8. Performance of the circumferential VLC channel. (Cir.=circumferential channel only; Two Chan.=circumferential and top-down channels).

Fig. 9. Performance of the top-down VLC channel. (TD=top-down channel only; Two Chan.=circumferential and top-down channels).