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ArmTenna: Two-Armed RFID Explorer for Dynamic Warehouse Management.

Sensors (Basel, Switzerland)ยท2026
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The Design of a Vision-Assisted Dynamic Antenna Positioning Radio Frequency Identification-Based Inventory Robot

Abdussalam A Alajami1, Rafael Pous1

  • 1Department of Information and Communication Technologies Engineering, Pompeu Fabra University, 08002 Barcelona, Spain.

Sensors (Basel, Switzerland)
|April 26, 2025
PubMed
Summary

This study introduces an advanced RFID robot with dynamic antenna positioning for warehouse inventory. The vision-assisted system achieves up to 98% detection rates, significantly improving efficiency in complex logistics environments.

Keywords:
RFIDantenna manipulatorautonomous mobile robotsdynamic inventory managementinventory robotrobotic handwarehouse automation

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Area of Science:

  • Robotics and Automation
  • Supply Chain Management
  • Computer Vision

Background:

  • Traditional RFID systems struggle with tag detection in complex warehouse environments due to static antennas.
  • Efficient inventory management is crucial for modern logistics and Industry 4.0.

Purpose of the Study:

  • To develop and evaluate an RFID-based inventory robot with vision-assisted dynamic antenna positioning.
  • To enhance tag detection rates and optimize inventory management in challenging warehouse settings.

Main Methods:

  • Integration of a 3-degree-of-freedom (3DOF) manipulator with dynamic antenna positioning.
  • Real-time object detection using a pretrained You Only Look Once (YOLO) model.
  • Application of forward and inverse kinematics for antenna orientation and circular scanning motion.

Main Results:

  • The vision-assisted dynamic positioning method achieved up to 98.0% detection rates, significantly outperforming fixed antennas (21.6%) and predefined paths (88.5%).
  • The system demonstrated superior performance in multitiered and cluttered warehouse environments.
  • Energy consumption was optimized, with 22.1 Wh per mission, balancing efficiency and performance.

Conclusions:

  • The proposed vision-assisted dynamic positioning robot overcomes limitations of static and preprogrammed systems.
  • This adaptable solution offers a scalable approach to enhance warehouse automation.
  • The system is poised to significantly improve inventory management efficiency in Industry 4.0 logistics.