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dc.contributor.authorDeyle, Travisen_US
dc.contributor.authorAnderson, Cressel D.en_US
dc.contributor.authorKemp, Charles C.en_US
dc.contributor.authorReynolds, Matt S.en_US
dc.date.accessioned2011-03-14T18:34:14Z
dc.date.available2011-03-14T18:34:14Z
dc.date.issued2008-09
dc.identifier.citationDeyle, 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.isbn978-1-4244-2057-5
dc.identifier.urihttp://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.descriptionPresented at IROS 2008, IEEE/RSJ International Conference on Intelligent Robots and Systems, 22-26 Sept. 2008, Nice, Franceen_US
dc.descriptionDOI: 10.1109/IROS.2008.4651047en_US
dc.description.abstractWe 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.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAntennasen_US
dc.subjectElectromagnetic couplingen_US
dc.subjectEnd effectorsen_US
dc.subjectMobile robotsen_US
dc.subjectPath planningen_US
dc.subjectRadiofrequency identificationen_US
dc.subjectRadiowave propagationen_US
dc.titleA foveated passive UHF RFID system for mobile manipulationen_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameDuke University. Dept. of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Dept. of Biomedical Engineeringen_US
dc.contributor.corporatenameEmory University. Dept. of Biomedical Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US


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