Distributed RFID tags for autonomous mapping of internal environments using the Robot Operating System

Abstract

This thesis discusses the development of A.T.I.C.U.S.S., or Autonomous Turtlebot for Indoor Cartography, Utilizing the SCOUT System. The SCOUT System is a novel basis for indoor localization, consisting of RFID tags at the junction of carpet tiles, creating an invisible grid on the floor. Autonomous Mapping methods are developed for the Robot Operating System (ROS) in order to test the effectiveness of an RFID-based navigation system. While it is shown that RFID tags do act as landmarks, the boon to localization is slight, if at all.