The anatomy of a context-aware application
MobiCom '99 Proceedings of the 5th annual ACM/IEEE international conference on Mobile computing and networking
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
Journal of Intelligent and Robotic Systems
LANDMARC: indoor location sensing using active RFID
Wireless Networks - Special issue: Pervasive computing and communications
Random Sampling Algorithm in RFID Indoor Location System
DELTA '06 Proceedings of the Third IEEE International Workshop on Electronic Design, Test and Applications
Advanced Engineering Informatics
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This paper presents a novel method using the read time of an antenna from an RFID system to reduce the localization error of a mobile robot in an RFID navigation system. There are many approaches for reducing the localization error in RFID systems. However, they do not deal with the problems that arise when the antenna can read at most one tag at any given moment. Using this approach, our passive RFID system is capable of estimating the robot's location and orientation more accurately without the use of external sensors, signal strength measurement, or a vision system. Moreover, the proposed method offers a modular and cost-effective alternative to other navigation systems for mobile robot applications related to services in indoor environment. The experimental results show that the proposed method enables the robot to successfully estimate both the location and the orientation during navigation. We discuss results of trajectories of the robot in navigation and compare them with a generally utilized RFID system.