research-article

RF-compass: robot object manipulation using RFIDs

Authors:

Daniela RusAuthors Info & Claims

MobiCom '13: Proceedings of the 19th annual international conference on Mobile computing & networking

Pages 3 - 14

https://doi.org/10.1145/2500423.2500451

Published: 30 September 2013 Publication History

Abstract

Modern robots have to interact with their environment, search for objects, and move them around. Yet, for a robot to pick up an object, it needs to identify the object's orientation and locate it to within centimeter-scale accuracy. Existing systems that provide such information are either very expensive (e.g., the VICON motion capture system valued at hundreds of thousands of dollars) and/or suffer from occlusion and narrow field of view (e.g., computer vision approaches).

This paper presents RF-Compass, an RFID-based system for robot navigation and object manipulation. RFIDs are low-cost and work in non-line-of-sight scenarios, allowing them to address the limitations of existing solutions. Given an RFID-tagged object, RF-Compass accurately navigates a robot equipped with RFIDs toward the object. Further, it locates the center of the object to within a few centimeters and identifies its orientation so that the robot may pick it up. RF-Compass's key innovation is an iterative algorithm formulated as a convex optimization problem. The algorithm uses the RFID signals to partition the space and keeps refining the partitions based on the robot's consecutive moves.We have implemented RF-Compass using USRP software radios and evaluated it with commercial RFIDs and a KUKA youBot robot. For the task of furniture assembly, RF-Compass can locate furniture parts to a median of 1.28 cm, and identify their orientation to a median of 3.3 degrees.

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Cited By

Lian JYuan XLou JChen LWang HTzeng N(2024)Room-scale Location Trace Tracking via Continuous Acoustic WavesACM Transactions on Sensor Networks10.1145/364913620:3(1-23)Online publication date: 13-Apr-2024
https://dl.acm.org/doi/10.1145/3649136
Sun WSrinivasan K(2024)RFDrive: Tagged Human-Vehicle Interaction for AllACM Journal on Computing and Sustainable Societies10.1145/36485332:2(1-19)Online publication date: 15-Feb-2024
https://dl.acm.org/doi/10.1145/3648533
Ding SGuan HNayak AGong W(2024)PoM: RFID Positioning for Real-World Application Using the Power of Mobility2024 IEEE Wireless Communications and Networking Conference (WCNC)10.1109/WCNC57260.2024.10570788(1-6)Online publication date: 21-Apr-2024
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Index Terms

RF-compass: robot object manipulation using RFIDs
1. Hardware
  1. Communication hardware, interfaces and storage
2. Networks

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cover image ACM Conferences

MobiCom '13: Proceedings of the 19th annual international conference on Mobile computing & networking

September 2013

504 pages

ISBN:9781450319997

DOI:10.1145/2500423

General Chair:
Sumi Helal
University of Florida, USA
,
Program Chairs:
Ranveer Chandra
Microsoft, USA
,
Robin Kravets
University of Illinois, Urbana-Champaign, USA

Copyright © 2013 ACM.

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SIGMOBILE: ACM Special Interest Group on Mobility of Systems, Users, Data and Computing

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Published: 30 September 2013

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MobiCom'13

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MobiCom'13: The 19th Annual International Conference on Mobile Computing and Networking

September 30 - October 4, 2013

Florida, Miami, USA

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MobiCom '13 Paper Acceptance Rate 28 of 207 submissions, 14%;

Overall Acceptance Rate 440 of 2,972 submissions, 15%

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Cited By

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https://dl.acm.org/doi/10.1145/3649136
Sun WSrinivasan K(2024)RFDrive: Tagged Human-Vehicle Interaction for AllACM Journal on Computing and Sustainable Societies10.1145/36485332:2(1-19)Online publication date: 15-Feb-2024
https://dl.acm.org/doi/10.1145/3648533
Ding SGuan HNayak AGong W(2024)PoM: RFID Positioning for Real-World Application Using the Power of Mobility2024 IEEE Wireless Communications and Networking Conference (WCNC)10.1109/WCNC57260.2024.10570788(1-6)Online publication date: 21-Apr-2024
https://doi.org/10.1109/WCNC57260.2024.10570788
Gong WWang HLi SChen S(2024)GLAC: High-Precision Tracking of Mobile Objects With COTS RFID SystemsIEEE/ACM Transactions on Networking10.1109/TNET.2023.334895032:3(2331-2343)Online publication date: Jun-2024
https://doi.org/10.1109/TNET.2023.3348950
Xie PLi LWang JLiu Y(2024)Passive Visible Light Tag System for Localization and Posture EstimationIEEE Transactions on Mobile Computing10.1109/TMC.2023.334880223:8(8541-8556)Online publication date: Aug-2024
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Liu HMeng ZXu JLi CLi ZGao NZhang Z(2024)Simultaneous Detection of the Orientation and Position of Moving Objects With Simple RFID Array for Industrial IoT ApplicationsIEEE Internet of Things Journal10.1109/JIOT.2024.340319511:17(28752-28764)Online publication date: 1-Sep-2024
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Dodds LPerper IEid AAdib FCosta XHassanieh HAsadi ACox LPerino DWidmer JGiustiniano D(2023)A Handheld Fine-Grained RFID Localization System with Complex-Controlled PolarizationProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3592504(1-15)Online publication date: 2-Oct-2023
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