Abstract
Recent research shows more and more interest in exploring the mapping task of tagged-items in the context of inventory with mobile robots in passive radio-frequency identification (RFID)-equipped infrastructures. However, mapping RFID tags is quite challenging, since the characteristics of radio signals are heavily influenced by environmental effects (e.g., reflection, diffraction, or absorption). This paper presents the augmented particle filter, which is able to recover from mapping failures of static RFID tags and localize non-static RFID tags. Furthermore, although negative information is usually considered to be less informative than positive information, we exploit the usefulness of negative information for RFID-based mapping. We show that a careful examination of negative information improves the mapping accuracy and helps to recover from mapping failures and relocalize non-static RFID tags. Additionally, we compare the particle filter-based approach to our previous grid-based Markov localization approach. Last, we demonstrate a mobile system, which is able to approach both static and non-static RFID tags, and avoid obstacles at the same time.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Deyle, T.: Ultra High Frequency (UHF) Radio-Frequency Identification (RFID) for Robot Perception and Mobile Manipulation. PhD thesis, Georgia Institute of Technology (2011)
Gutmann, J.S., Fox, D.: An experimental comparison of localization methods continued. In: Proc. of the 2002 IEEE/RSJ Int. Conf. of Intelligent Robots and Systems (IROS 2002), EPFL, Switzerland (Sept. 30–Oct. 4 2002) 454–459
Hähnel, D., Burgard, W., Fox, D., Fishkin, K., Philipose, M.: Mapping and localization with RFID technology. In: Proc. of the 2004 IEEE Int. Conf. on Robotics and Automation (ICRA 2004), USA, IEEE (April 26–May 1 2004) 1015–1020
Hoffmann, J., Spranger, M., Ghring, D., Jngel, M.: Making use of what you dont see: Negative information in markov localization. In: Proc. of the 2005 IEEE/RSJ Int. Conf. of Intelligent Robots and Systems (IROS 2005). (August 2–6 2005) 2947–2952
Joho, D., Plagemann, C., Burgard, W.: Modeling RFID signal strength and tag detection for localization and mapping. In: Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation (ICRA 2009), Kobe, Japan (May 12–17 2009) 3160–3165
Lenser, S., Veloso, M.: Sensor resetting localization for poorly modelled mobile robots. In: Proc. of the 2000 IEEE Int. Conf. on Robotics and Automation (ICRA 2000), San Francisco, CA, USA (April 24–28 2000) 1225–1232
Liu, J., West, M.: Combined Parameter and State Estimation in Simulation-Based Filtering. Statistics for Engineering and Information Science. Springer New York (2001)
Thrun, S., Fox, D., Burgard, W., Dellaert, F.: Robust Monte Carlo localization for mobile robots. Artificial Intelligence 128(1–2) (2000) 99–141
Ulrich, I., Borenstein, J.: VFH+: reliable obstacle avoidance for fast mobile robots. In: Proc. of the 1998 IEEE Int. Conf. on Robotics and Automation (ICRA 1998), Leuven, Belgium (May 16–20 1998) 1572–1577
Vorst, P.: Mapping, Localization, and Trajectory Estimation with Mobile Robots Using Long-Range Passive RFID. PhD thesis, University of Tübingen, Tübingen, Germany (August 2011)
Vorst, P., Zell, A.: Semi-autonomous learning of an RFID sensor model for mobile robot self-localization. In: European Robotics Symposium 2008. Volume 44/2008 of Springer Tracts in Advanced Robotics., Springer, Berlin/Heidelberg (February 2008) 273–282
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Liu, R., Zell, A. (2016). Toward Localizing both Static and Non-static RFID Tags with a Mobile Robot. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_21
Download citation
DOI: https://doi.org/10.1007/978-3-319-08338-4_21
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-08337-7
Online ISBN: 978-3-319-08338-4
eBook Packages: EngineeringEngineering (R0)