New publication: “Trajectory Planning of a Moving Robot Empowers 3D Localization of RFID Tags with a Single Antenna.“

A new publication named “Trajectory Planning of a Moving Robot Empowers 3D Localization of RFID Tags with a Single Antenna.“ has been published in the IEEE Journal of Radio Frequency Identification.

In this work, we present a method for 3D localization of RFID tags by a reader-equipped robot with a single antenna. The robot carries a set of sensors, which enable it to create a map of the environment and locate itself in it (Simultaneous Localization and Mapping -SLAM). Then we exploit the collected phase measurements to localize large tag populations in real-time. We show that by forcing the robot to move along non-straight trajectories, thus creating non-linear synthetic apertures, the circular ambiguity of the possible tag’s locations is eliminated and 3D localization is accomplished. A reliability metric is introduced, suitable for real-time assessment of the localization error. We investigate how the curvature of the robot’s trajectory affects the accuracy under varying multipath conditions. It is found that increasing the trajectory’s slope and number of turns improves the accuracy of the method. We introduce a phase model that accounts for the effects of multipath and derive the closed form expression of the resultant’s phase probability density function. Finally, the proposed method is extended when multiple antennas are available. Experimental results in a “multipath-rich” indoor environment demonstrate a mean 3D error of 35cm, achieved in a few seconds.

Related projects: RELIEF

Link: https://doi.org/10.1109/JRFID.2020.3000332

New book chapter: “Robotics Meets RFID for Simultaneous Localization (of Robots and Objects) and Mapping(SLAM) – A Joined Problem”

A new book chapter named “Robotics Meets RFID for Simultaneous Localization (of Robots and Objects) and Mapping(SLAM) – A Joined Problem” has been published in the Wireless Power Transmission for Sustainable Electronics from Wiley, from Antonis G. Dimitriou, Stavroula Siachalou, Emmanouil Tsardoulias, and Loukas Petrou. This publication is focused on deploying a moving robotic platform, i.e. a robot, which hosts radio frequency identification (RFID) equipment and aims to locate passive RFID tags attached to objects in the surrounding area. The robot hosts additional sensors, namely lidar and depth cameras, enabling it to perform SLAM – simultaneous localization (of its own location) and mapping of any (including previously unknown) area. This work has been performed in the context of the Relief project. Read more in the link below!

https://onlinelibrary.wiley.com/doi/abs/10.1002/9781119578598.ch7