RF-Boundary: RFID-Based Virtual Boundary

A boundary is a physical or virtual line that marks the edge or limit of a specific region, which has been widely used in many applications, such as autonomous driving, virtual wall, and robotic lawn mowers. However, none of existing work can well balance the cost, the deployability, and the scalability of a boundary. In this paper, we propose a new RFID-based boundary scheme together with its detection algorithm called RF-Boundary, which has the competitive advantages of being battery-free, low-cost, and easy-to-maintain. We develop two technologies of phase gradient and dual-antenna DoA to address the key challenges posed by RF-boundary, in terms of lack of calibration information and multi-edge interference. We implement a prototype of RF-Boundary with commercial RFID systems and a mobile robot. Extensive experiments verify the feasibility as well as the good performance of RF-Boundary.