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The growing importance of operations such as identification, location sensing and object tracking has led to increasing interests in contact less Radio Frequency Identification (RFID) systems. Enjoying the low cost of RFID tags, modern RFID systems tend to be deployed for large-scale mobile objects. Both the theoretical and experimental results suggest that when tags are mobile and with large numbers, two classical MAC layer collision-arbitration protocols, slotted ALOHA and Tree-traversal, do not satisfy the scalability and time-efficiency requirements of many applications. To address this problem, we propose Adaptively Splitting-based Arbitration Protocol (ASAP), a scheme that provides low-latency RFID identification and has stable performance for massive RFID networks. Theoretical analysis and experimental evaluation show that ASAP outperforms most existing collision-arbitration solutions. ASAP is efficient for both small and large deployment of RFID tags, in terms of time and energy cost. Hence it can benefit dynamic and large-scale RFID systems.