A Passive Eye-in-Hand "Camera" for Miniature Robots

Abstract

We in this paper present TiSee, an RFID-based sensing system that supports miniature robots to perform agile tasks in everyday environments. TiSee's unique capability is that it uses a single arbitrarily-deployed antenna to locate a target with sub-cm-level accuracy and identify its orientation to within few degrees. Compared with existing solutions which rely on either antenna arrays or multiple RFID readers, TiSee is cheap, compact, and applicable to miniature robots.