RT Journal Article
T1 Next-Best-Sense: a multi-criteria robotic exploration strategy for RFID tags discovery
A1 Polvara, Ricardo
A1 Fernández-Carmona, Manuel
A1 Neumann, Gerhard
A1 Hanheide, Marc
K1 Robótica
K1 Radiofrecuencia
AB Automated exploration is one of the most relevant applications for autonomous robots. In this letter, we propose a novel online coverage algorithm called Next-Best-Sense (NBS), an extension of the Next-Best-View class of exploration algorithms which optimizes the exploration task balancing multiple criteria. NBS is applied to the problem of localizing all Radio Frequency Identification (RFID) tags with a mobile robot. We cast this problem as a coverage planning problem by defining a basic sensing operation - a scan with the RFID reader - as the field of “view” of the sensor. NBS evaluates candidate locations with a global utility function which combines utility values for travel distance, information gain, sensing time, battery status and RFID information gain, generalizing the use of Multi-Criteria Decision Making. We developed an RFID reader and tag model in the Gazebo simulator for validation. Experiments performed both in simulation and with a robot suggest that our NBS approach can successfully localize all the RFID tags while minimizing navigation metrics, such sensing operations, total traveling distance and battery consumption.
PB IEEE
YR 2020
FD 2020
LK https://hdl.handle.net/10630/34167
UL https://hdl.handle.net/10630/34167
LA spa
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026