A foveated passive UHF RFID system for mobile manipulation

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dc.contributor.author Deyle, Travis en_US
dc.contributor.author Anderson, Cressel D. en_US
dc.contributor.author Kemp, Charles C. en_US
dc.contributor.author Reynolds, Matt S. en_US
dc.date.accessioned 2011-03-14T18:34:14Z
dc.date.available 2011-03-14T18:34:14Z
dc.date.issued 2008-09
dc.identifier.citation Deyle, T.; Anderson, C.; Kemp, C.C.; Reynolds, M.S., "A foveated passive UHF RFID system for mobile manipulation," IROS 2008. IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008, 3711-3716. en_US
dc.identifier.isbn 978-1-4244-2057-5
dc.identifier.uri http://hdl.handle.net/1853/37381
dc.description ©2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at IROS 2008, IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008, Nice, France en_US
dc.description DOI: 10.1109/IROS.2008.4651047 en_US
dc.description.abstract We present a novel antenna and system architecture for mobile manipulation based on passive RFID technology operating in the 850 MHz - 950 MHz ultra-high-frequency (UHF) spectrum. This system exploits the electromagnetic properties of UHF radio signals to present a mobile robot with both wide-angle dasiaperipheral visionpsila, sensing multiple tagged objects in the area in front of the robot, and focused, high-acuity dasiacentral visionpsila, sensing only tagged objects close to the end effector of the manipulator. These disparate tasks are performed using the same UHF RFID tag, coupled in two different electromagnetic modes. Wide-angle sensing is performed with an antenna designed for far-field electromagnetic wave propagation, while focused sensing is performed with a specially designed antenna mounted on the end effector that optimizes near-field magnetic coupling. We refer to this RFID system as dasiafoveatedpsila, by analogy with the anatomy of the human eye. We report a series of experiments on an untethered autonomous mobile manipulator in a 2.5D environment that demonstrate the features of this architecture using two novel behaviors, one in which data from the far-field antenna is used to determine if a specific tagged object is present in the robotpsilas working area and to navigate to that object, and a second using data from the near-field antenna to grasp a specified object from a collection of visually identical objects. The same UHF RFID tag is used to facilitate both the navigation and grasping tasks. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Antennas en_US
dc.subject Electromagnetic coupling en_US
dc.subject End effectors en_US
dc.subject Mobile robots en_US
dc.subject Path planning en_US
dc.subject Radiofrequency identification en_US
dc.subject Radiowave propagation en_US
dc.title A foveated passive UHF RFID system for mobile manipulation en_US
dc.type Proceedings en_US
dc.type Post-print en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Duke University. Dept. of Electrical and Computer Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Dept. of Biomedical Engineering en_US
dc.contributor.corporatename Emory University. Dept. of Biomedical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US


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