Mathematical formulation of RFID tag floor based localization and performance analysis for tag placement

A radio-frequency identification (RFID) tag floor based localization is recently proposed indoor mobile robot localization method that utilizes super-distributed RFID tag infrastructure (SDRI) installed on a working area. An RFID tag floor localization (RTFL) method is easy to scale up the working area and the number of robots and is reliable in the position estimation. There have been several researches for practical applications of the RTFL, however, the investigation on performance and properties of the localization method is still insufficient. This paper propose a mathematical formulations of the RTFL and its performance index based on an RFID position estimation error variance. This paper also presents simulation results of the RTFL performances and analysis. These results can be used for optimal installation of the RFID tag floor.