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

  • Thomas H. Miller
  • David A. Stolfo
  • John R. Spletzer
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 62)


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.


Mobile Robot Inventory Management Sensor Model Robot Localization Asset Position 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Thomas H. Miller
    • 1
  • David A. Stolfo
    • 1
  • John R. Spletzer
    • 1
  1. 1.Lehigh UniversityBethlehemUSA

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