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Radio Frequency Identification (RFID) is being increasingly used as an augmentation technology in the domain of environment mapping and ubiquitous computing. In this paper, we present a novel method for localizing RFID tags embedded in indoor environments, by using a mobile robot equipped with RF antennas and reader, and a laser range finder. First, a model of the RFID system is learnt, which describes the likelihood of detecting a tag, given its position relative to the robot. Then, based on this model, a fuzzy inference method is developed that allows to localize tags in the environment. Tag locations are referred to a map of the environment, which is obtained from laser range data. Results of experimental tests show that the proposed approach is accurate in localizing RFID tags and can be successfully integrated with autonomous navigation and mapping systems.