CPR Localization Using the RFID Tag-Floor.

In this paper, we describe our approach to achieve accurate localization using RFID for Cellular Phone Robot (CPR). We solely rely on RFID mechanism and complement coordinate errors accumulated during the wheel-based CPR navigation. We especially focus on how to distribute RFID tags (tag pattern) and how many to place (tag granularity) on the floor to accomplish efficient navigations. We define the error in navigation and use it to compare the effectiveness of various RFID floor settings through a simulation. Identified tag patterns and granularities would be useful to many USN applications where the adoption of RFID technology is appropriate. [ABSTRACT FROM AUTHOR]