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RFID technology is increasingly being deployed in ubiquitous computing environments for object tracking and localization. Existing tracking architecture usually assumes the use of a trusted server which is invulnerable to compromise by internal and external adversaries. However, maintaining such a trusted server is unlikely in the real world. In this paper, we consider the problem of adding privacy protection to object tracking systems built upon passive RFID tags, without relying on a trusted server assumption. Our protocol continues to protect user privacy in the event of partial compromise of a server.