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The Design of a Vision-Assisted Dynamic Antenna Positioning Radio Frequency Identification-Based Inventory Robot Utilizing a 3-Degree-of-Freedom Manipulator.

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

Abdussalam A Alajami1, Rafael Pous1

  • 1Department of Information and Communication Technologies Engineering, Pompeu Fabra University, 08018 Barcelona, Spain.

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Summary

This study introduces ArmTenna, a robotic system for efficient RFID inventory exploration in warehouses. It achieves higher map coverage and reduces missed tags by actively controlling sensing poses and integrating multi-modal data.

Keywords:
RFID-SLAM explorationRFID-based exploration robotsRFID-based navigationRFID-based robotsexploration robotsindoor warehouse exploration

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Supply Chain Management

Background:

  • Warehouse inventory management faces challenges with RFID due to occlusions and suboptimal sensing strategies.
  • Existing robots often treat RFID as a passive data source, leading to inefficient exploration and incomplete coverage.

Purpose of the Study:

  • To develop an active perception framework for RFID spatial exploration in dynamic warehouse environments.
  • To improve inventory robot efficiency by optimizing sensing pose and integrating multi-modal data for exploration decisions.

Main Methods:

  • Introduced ArmTenna, a robotic platform with articulated arms carrying UHF RFID antennas and an RGB-D camera.
  • Developed a multi-modal frontier exploration framework using EPC tags, RSSI, and vision-based detections.
  • Integrated active sensing pose control directly into the exploration decision-making loop.

Main Results:

  • ArmTenna achieved up to 97% map coverage, significantly outperforming a baseline platform's 72%.
  • The system effectively reduced missed-tag regions in warehouse inventory.
  • Demonstrated tight coupling between sensing geometry and exploration decisions for enhanced efficiency.

Conclusions:

  • Integrating active sensing pose control with multi-modal frontier evaluation is an effective solution for RFID-driven warehouse automation.
  • The ArmTenna platform offers a scalable approach to improving RFID inventory accuracy and efficiency.
  • Active perception strategies significantly enhance robotic exploration in complex environments.