Signage System for the Navigation of Autonomous Robots in Indoor Environments

Paredes, Ana Corrales; Malfáz, María; Salichs, Miguel Á.

doi:10.1109/tii.2013.2246173

Cited by 35 publications

(12 citation statements)

References 22 publications

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“…A number of solutions have been presented, which are based on a mobile agent [59]- [64] or a robotic grasping system [65], [66]. We distinguish between moving-reader based systems, e.g., reader-equipped vehicles exploiting a set of reference tags, [67]- [69], and moving-tag based systems, e.g., tagged robots that self-localize by using an infrastructure of fixed reader antennas [39], [70]- [74]. The latter solution is more expensive and complex with respect to the first one, which is typically preferred.…”

Section: B Rfid-based Localization Methodsmentioning

confidence: 99%

“…Most recent solutions exploit a UHF-RFID reader on the vehicle with a grid of fixed reference tags installed in the scenario [67]- [69]. As for HF-RFID based systems, localization performance depends on the tag density, even if the larger reading range allows for a coarser tag deployment.…”

Section: B Uhf-rfid Systemsmentioning

confidence: 99%

“…As for HF-RFID based systems, localization performance depends on the tag density, even if the larger reading range allows for a coarser tag deployment. Both range-based [67] and range-free methods [68], [69] were proposed.…”

Section: B Uhf-rfid Systemsmentioning

confidence: 99%

“…The obtained average localization error was 3.7 cm, when 81 tags were deployed in a 7 m × 7 m area. In [69], the authors proposed a navigation scheme with passive UHF-RFID tags to guide robots through large environments. Basically, the tag EPC is associated to an instruction for the robot motion.…”

Section: B Uhf-rfid Systemsmentioning

confidence: 99%

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A Survey on Indoor Vehicle Localization Through RFID Technology

2021

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This paper presents a state-of-the-art analysis on the methods suitable for vehicle indoor localization and exploiting the RFID (Radio Frequency IDentification) technology. The survey describes three main categories of vehicle localization systems: (i) solutions exploiting only the RFID technology, (ii) sensor-fusion techniques combining data from RFID systems and proprioceptive sensors, and (iii) sensorfusion techniques combing RFID data with those of other exteroceptive sensors in addition to the RFID system itself. For each method, implementation and methodological details are discussed, by highlighting the applied RFID technology, namely passive HF-RFID, passive UHF-RFID, or any other RFID system. Also, the employed RFID parameters, i.e., tag EPC, RSSI or backscattered phase, are discussed. The survey focuses on the achievable localization performance, also accounting for infrastructure-deployment costs together with complexity and maintenance overhead. Positioning, tracking, navigation and simultaneous localization and mapping (SLAM) issues are here considered. The analysis highlights pros and cons of each method, together with the main challenges and perspectives of RFID-based solutions for vehicle localization.

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Section: B Rfid-based Localization Methodsmentioning

confidence: 99%

Section: B Uhf-rfid Systemsmentioning

confidence: 99%

Section: B Uhf-rfid Systemsmentioning

confidence: 99%

Section: B Uhf-rfid Systemsmentioning

confidence: 99%

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A Survey on Indoor Vehicle Localization Through RFID Technology

2021

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“…The signaling system used, its design and the structure of each signal were defined in a previous paper [27]. In that research, the robot used the RFID tags to guide itself and, in case of getting lost or not reading a signal, the robot kept navigating using other signals to orientate itself again.…”

Section: Introductionmentioning

confidence: 99%

Waymarking in Social Robots: Environment Signaling Using Human–Robot Interaction

Corrales-Paredes

Malfáz

Egido-García

et al. 2021

Sensors

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Travellers use the term waymarking to define the action of posting signs, or waymarks, along a route. These marks are intended to be points of reference during navigation for the environment. In this research, we will define waymarking as the skill of a robot to signal the environment or generate information to facilitate localization and navigation, both for its own use and for other robots as well. We present an automated environment signaling system using human–robot interaction and radio frequency identification (RFID) technology. The goal is for the robot, through human–robot interaction, to obtain information from the environment and use this information to carry out the signaling or waymarking process. HRI will play a key role in the signaling process since this type of communication makes it possible to exchange more specific and enriching information. The robot uses common phrases such as “Where am I?” and “Where can I go?”, just as we humans do when we ask other people for information about the environment. It is also possible to guide the robot and “show” it the environment to carry out the task of writing the signs. The robot will use the information received to create, update, or improve the navigation data in the RFID signals. In this paper, the signaling process will be described, how the robot acquires the information for signals, writing and updating process and finally, the implementation and integration in a real social robot in a real indoor environment.

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