dc.contributor.author | Wang, Jue | |
dc.contributor.author | Katabi, Dina | |
dc.contributor.author | Adib, Fadel M. | |
dc.contributor.author | Knepper, Ross A. | |
dc.contributor.author | Rus, Daniela L. | |
dc.date.accessioned | 2014-05-16T19:25:51Z | |
dc.date.available | 2014-05-16T19:25:51Z | |
dc.date.issued | 2013-09 | |
dc.identifier.isbn | 9781450319997 | |
dc.identifier.uri | http://hdl.handle.net/1721.1/87045 | |
dc.description.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. | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) | en_US |
dc.language.iso | en_US | |
dc.publisher | Association for Computing Machinery (ACM) | en_US |
dc.relation.isversionof | http://dx.doi.org/10.1145/2500423.2500451 | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
dc.source | MIT web domain | en_US |
dc.title | RF-compass: Robot object manipulation using RFIDs | en_US |
dc.type | Article | en_US |
dc.identifier.citation | ue Wang, Fadel Adib, Ross Knepper, Dina Katabi, and Daniela Rus. 2013. RF-compass: robot object manipulation using RFIDs. In Proceedings of the 19th annual international conference on Mobile computing & networking (MobiCom '13). ACM, New York, NY, USA, 3-14. | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | en_US |
dc.contributor.mitauthor | Wang, Jue | en_US |
dc.contributor.mitauthor | Adib, Fadel M. | en_US |
dc.contributor.mitauthor | Knepper, Ross A. | en_US |
dc.contributor.mitauthor | Katabi, Dina | en_US |
dc.contributor.mitauthor | Rus, Daniela L. | en_US |
dc.relation.journal | Proceedings of the 19th annual international conference on Mobile computing & networking (MobiCom '13) | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
dspace.orderedauthors | Wang, Jue; Adib, Fadel; Knepper, Ross; Katabi, Dina; Rus, Daniela | en_US |
dc.identifier.orcid | https://orcid.org/0000-0001-5473-3566 | |
dc.identifier.orcid | https://orcid.org/0000-0003-4854-4157 | |
dc.identifier.orcid | https://orcid.org/0000-0003-2593-2069 | |
dspace.mitauthor.error | true | |
mit.license | OPEN_ACCESS_POLICY | en_US |
mit.metadata.status | Complete | |