Field and Service Robotics

Volume 62 of the series Springer Tracts in Advanced Robotics pp 163-172

An Automated Asset Locating System (AALS) with Applications to Inventory Management

  • Thomas H. MillerAffiliated withLehigh University
  • , David A. StolfoAffiliated withLehigh University
  • , John R. SpletzerAffiliated withLehigh University

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In this work, we present a proof-of-concept Automated Asset Locating System (AALS) for enhancing inventory management. AALS integrates LIDAR and RFID sensor measurements into a Rao-Blackwellized particle filter for simultaneously localizing its pose with the positions of assets in the environment. We present significant experimental results where the proof-of-concept system successfully traveled a total distance of 1.4 km autonomously,while detecting and mapping all 143 available assets in real-time, and with a mean position error of < 80 cm.