“…However, these types of solutions may have some drawbacks because of the difficulty of deploying an RTLS [ 11 ] and the dynamic nature of construction environments [ 12 ]. Most safety systems based on RTLS [ 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 ] need to deploy some fixed sensors with known positions around the working environment and define safe and dangerous zones. Some time has to be spent fixing sensors where needed, measuring their positions and introducing the limits of the safe and danger zones to the system.…”