Accuracy and Precision of Agents Orientation in an Indoor Positioning System Using Multiple Infrastructure Lighting Spotlights and a PSD Sensor - De-La-Llana-calvo, Á.; Lázaro-Galilea, J.L.; Alcázar-Fernández, A.; Gardel-Vicente, A.; Bravo-Muñoz, I.; Iamnitchi, A. (Sensors, 2022)