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Radio Frequency Identification (RFID) technology is a method to remotely store and retrieve data using a small microchip called the RFID tag. This makes identification, authentication of objects and people possible without any physical contact between a tag and its reader. As of today, RFID have been applied to a wide range of problems: supply chain management to replace barcode, access control in restricted areas such as laboratories and airports... As a result, billions of tags will be deployed within the next years. However, RFID development is threatened by privacy and security risks. The limited capabilities of RFID tags make privacy and security enforcement a special challenge. This article presents a new method to ensure a mutual authentication between tags and readers using only two messages and without the use of complex cryptography. Our proposition focuses on low-capability tags which cannot use classic cryptographic security methods.