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| Content Provider | ACM Digital Library |
|---|---|
| Author | Adib, Fadel Wang, Jue Knepper, Ross Rus, Daniela Katabi, Dina |
| 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. |
| Starting Page | 3 |
| Ending Page | 14 |
| Page Count | 12 |
| File Format | |
| ISBN | 9781450319997 |
| DOI | 10.1145/2500423.2500451 |
| Language | English |
| Publisher | Association for Computing Machinery (ACM) |
| Publisher Date | 2013-09-30 |
| Publisher Place | New York |
| Access Restriction | Subscribed |
| Subject Keyword | Rf localization Rfids Robot mobile manipulation Optimization |
| Content Type | Text |
| Resource Type | Article |
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