SILoc: a speed inconsistency-immune approach to mobile RFID robot localization

Jiuwu Zhang, Xiulong Liu*, Tao Gu, Xinyu Tong, Sheng Chen, Keqiu Li

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

9 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationINFOCOM 2021 - IEEE Conference on Computer Communications
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages10
ISBN (Electronic)9780738112817
Publication statusPublished - 2021
Event40th IEEE Conference on Computer Communications, INFOCOM 2021 - Vancouver, Canada
Duration: 10 May 202113 May 2021

Publication series

NameProceedings - IEEE INFOCOM
ISSN (Print)0743-166X


Conference40th IEEE Conference on Computer Communications, INFOCOM 2021


  • Localization
  • RFID-robot
  • Speed Inconsistency


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