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Issue No.02 - April-June (2010 vol.9)
pp: 37-45
Travis Deyle , Georgia Institute of Technology
Hai Nguyen , Georgia Institute of Technology
Matthew Reynolds , Duke University
Charles Kemp , Georgia Institute of Technology
In the future, pervasive automation might only require buying a robot, bringing it home, and turning it on. An autonomous robot that moves throughout a building and manipulates objects could automate a variety of tasks and provide a missing interface between computation and the physical world. Today, however, robots have great difficulty perceiving, manipulating, and understanding the world. Labeling important objects in the world for robots could help them overcome these challenges and accelerate deployment. One step toward this vision is a prototype mobile robot that manipulates objects labeled with ultrahigh-frequency RFID tags. Using the tags' unique IDs, a semantic database, and RF perception via actuated antennas, the robot reliably interacts with people and approaches and manipulates tagged objects.
robotics, radio frequency identification, RFID, ultrahigh frequency, mobile manipulation, pervasive computing, ubiquitous computing, human-robot interaction
Travis Deyle, Hai Nguyen, Matthew Reynolds, Charles Kemp, "RFID-Guided Robots for Pervasive Automation", IEEE Pervasive Computing, vol.9, no. 2, pp. 37-45, April-June 2010, doi:10.1109/MPRV.2010.17
1. Class 1 Generation 2 UHF RFID Protocol for Operation at 860 MHz–960 MHz, Ver. 1.0.9, EPCglobal US, 2005; Class1Generation2UHFAirInterfaceProtocol/ tabid/322Default.aspx.
2. T. Deyle, C.C. Kemp, and M.S. Reynolds, "Probabilistic UHF RFID Tag Pose Estimation with Multiple Antennas and a Multipath RF Propagation Model," Proc. 2008 IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS 08), IEEE Press, 2008, pp. 1379–1384.
3. T. Deyle et al., "RF Vision: RFID Receive Signal Strength Indicator (RSSI) Images for Sensor Fusion and Mobile Manipulation," Proc. 2009 IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS 09), IEEE Press, pp. 5553–5560.
4. T. Deyle et al., "A Foveated Passive UHF RFID System for Mobile Manipulation," Proc. 2008 IEEE/RSJ Int'l Conf. Intelligent Robots and Systems (IROS 08), IEEE Press, 2008, pp. 3711–3716.
5. H. Nguyen et al., "PPS-Tags: Physical Perceptual and Semantic Tags for Autonomous Mobile Manipulation," Proc. IROS 2009 Workshop Semantic Perception for Mobile Manipulation, 2009.
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