@inproceedings{89764b8310aa4bd281fdbb91f15c0493,
title = "SILoc: a speed inconsistency-immune approach to mobile RFID robot localization",
abstract = "Mobile RFID robots have been increasingly used in warehousing and intelligent manufacturing scenarios to pinpoint the locations of tagged objects. The accuracy of state-of-the-art RFID robot localization systems depends much on the stability of robot moving speed. However, in reality this assumption can hardly be guaranteed because a Commercial-Off-The-Shelf (COTS) robot typically has an inconsistent moving speed, and a small speed inconsistency will cause a large localization error. To this end, we propose a Speed Inconsistency-Immune approach to mobile RFID robot Localization (SILoc) system, which can accurately locate RFID tagged targets when the robot moving speed varies or is even unknown. SILoc employs multiple antennas fixed on the mobile robot to collect the phase data of target tags. We propose an optimized unwrapping method to maximize the use of the phase data, and a lightweight algorithm to calculate the locations in both 2D and 3D spaces based on the unwrapped phase profile. By utilizing the characteristics of tag-antenna distance and combining the phase data from multiple antennas, SILoc can effectively eliminate the side effects of moving speed inconsistency. Extensive experimental results demonstrate that SILoc can achieve a centimeter-level localization accuracy in the scenario with an inconsistent or unknown robot moving speed.",
keywords = "Localization, RFID-robot, Speed Inconsistency",
author = "Jiuwu Zhang and Xiulong Liu and Tao Gu and Xinyu Tong and Sheng Chen and Keqiu Li",
year = "2021",
doi = "10.1109/INFOCOM42981.2021.9488718",
language = "English",
series = "Proceedings - IEEE INFOCOM",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "1--10",
booktitle = "INFOCOM 2021 - IEEE Conference on Computer Communications",
address = "United States",
note = "40th IEEE Conference on Computer Communications, INFOCOM 2021 ; Conference date: 10-05-2021 Through 13-05-2021",
}