Systems and methods for performing wireless scanning and inventory management operations

Abstract

Systems and methods are provided for performing wireless scanning and inventory management operation, including determining or monitoring the location of inventory items or articles in an environment. The systems and methods may include receiving antenna position information indicating a position and antenna orientation information indicating an orientation for performing a wireless scan. The systems and methods may also include moving, using at least one actuator, a mobile antenna to the position and the orientation based on the antenna position information and the antenna orientation information. The systems and methods may also include performing, using the mobile antenna, the wireless scan. The system and methods may also use Doppler information to determine position information and visual information to assist in inventory verification and determining position information.

Description

Agent Ref. : 000104-0018-WO 1SYSTEMS AND METHODS FOR PERFORMING WIRELESS SCANNING AND INVENTORY MANAGEMENT OPERATIONSCross Reference to Related Applications

[0001] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 724,214, filed on November 22, 2024, which his hereby incorporated by reference herein in its entirety.Introduction

[0002] The present disclosure generally relates to methods and systems for performing wireless scanning and inventory management operations, and more particularly to using one or more mobile robots to perform the wireless scanning and inventory management operations.Summary

[0003] Wireless asset tracking systems, such as radio frequency identification (RFID) systems, can be used to monitor the presence and location of assets. In smaller spaces such as stores, this may be done by mounting a sufficient number of reading devices to provide full coverage of the space, and the approximate position of wireless tags may be determined by comparing the signal strength at several reader antennas. These antennas may be co-located directional antennas or distributed (directional or omnidirectional) antennas. The mounting and cable routing work can be substantial and one can be forced to halt operation in the space during the installation. In large spaces such as warehouses and factories (and often additionally in small spaces), asset tracking systems typically rely on permanently mounted antennas in select locations (e.g., “choke points”) to determine the movement, and then inferthe presence, of assets. This is because achieving full coverage of these facilities is not practical. For example, a conventional RFID system in a warehouse may use RFID gates at the loading dock doors to monitor assets (typically goods) entering and exiting the facility. However, these systems cannot monitor the location of the assets because this would require the coverage of all potential locations of the goods (ideally even with multiple antennas to be able to compare signal strength). When the location of an asset in the facility is unknown, typical solutions involve hand-held readers that are used to sweep the facility until the asset is found (e.g., commonly known as “Geiger counter mode”). It may therefore be desirable to provide scanning solutions that overcome these technical challenges.

[0004] Moreover, even when a wireless system is able to detect whether a wireless tag is present or not, accurate localization remains challenging. For example, the accuracy of signal strength localization techniques can be affected by various factors such as the relative orientation between a wireless tag and a reader antenna and signal interferences in the environment. It may therefore be desirable to provide improved localization solutions that overcome these technical challenges.

[0005] Camera tracking systems can be used to identify and localize assets. For example, barcodes may be placed on assets and barcodes are a reliable way of visually encoding information in a machine-readable form. However, while barcodes can be identified using cameras, if the barcode is blocked (e.g., occluded), the asset cannot be identified or localized. It may therefore be desirable to provide improved image capturing and processing techniques to assist in localizing assets.

[0006] In environments having a high density of wireless tags, it may be possible to identify all of the tags by slowly moving a reader through the environment. However, this can be a time-consuming process that is not practicable in large environments. Additionally, while a large number of readers (e.g., on ground-based robots) may be used to scan a large environment, the readers may physically obstruct the environment from operation, interfere with each other, and require a large amount of energy. It may therefore be desirable to provide wireless scanning techniques that use information of the environment to optimize scanning settings, movement of the reader, and / or antenna poses to more efficiently or quickly scan an environment.

[0007] Examples of the present disclosure relate to an implementation of a virtual antenna, where the virtual antenna has an associated position and orientation. In some examples, a mobile antenna, such as an aerial or flying robot comprising an antenna thereon, may be configured to move to the position and orientation of a virtual antenna, such as to perform awireless scan. In some examples, the virtual antenna may comprise an associated wireless scanning field, region, or range. In some examples, multiple virtual antennas may be used to achieve any shape or size of a wireless scanning field, region, or range. As such, in some embodiments any number of virtual antennas may be defined, providing flexibility and scalability in place of antennas in fixed positions.

[0008] In some embodiments of the present disclosure, methods and systems are provided for wireless scanning using a virtual antenna. Antenna position information (e.g., indicating a position) and antenna orientation information (e.g., indicating an orientation) for performing a wireless scan are received. A mobile antenna is moved to the position and orientation using at least one actuator, based on the antenna position information and the antenna orientation information, and the wireless scan is performed using the mobile antenna.

[0009] In some embodiments, the mobile antenna may be, comprise, or be comprised within, an autonomous flying machine.

[0010] In some embodiments, the position may comprise a landing area, optionally wherein the wireless scan may be performed while the mobile antenna is at rest on the landing area.

[0011] In some embodiments, the position may comprise a three-dimensional position. In some embodiments, the orientation may comprise a rotational orientation of the mobile antenna.

[0012] In some embodiments, performing the wireless scan may comprise transmitting a radio frequency identification (RFID) interrogation signal and receiving a response signal from an RFID tag.

[0013] In some embodiments, the RFID tag may comprise a passive RFID tag; optionally wherein the response signal may comprise a reflected signal from the passive RFID tag.

[0014] Embodiments will be appreciated wherein the wireless scan is performed by any suitable wireless scanning technology. In some embodiments, performing the wireless scan may comprise receiving a Bluetooth signal from an object.

[0015] In some embodiments, a plurality of poses may be stored (e.g., on the mobile antenna), wherein: each pose has a corresponding identifier; a first pose of the plurality of poses comprises the position and the orientation; optionally wherein receiving the antenna position information and the antenna orientation information comprises receiving the identifier corresponding to the first pose.

[0016] In some embodiments, the antenna position information may indicate a first position and a second position; and the antenna orientation information may indicate a first orientation and a second orientation. In some embodiments, performing the wireless scan may comprise:performing a first wireless scan when the mobile antenna is in the first position and the first orientation; and performing a second wireless scan when the mobile antenna is in the second position and the second orientation. In some embodiments, a union or intersection operation may be performed on results of the first wireless scan and the second wireless scan.

[0017] In some embodiments, systems and methods are provided for wireless scanning using a virtual antenna. In some such embodiments, a first storage location may be received and a plurality of first positions may be determined for a plurality of mobile robots to perform scanning based on a first inventory task. First instruction information may be transmitted to the plurality of mobile robots, wherein each of the plurality of mobile robots is configured to: move to a respective first position based on the first instruction information; and perform first wireless scanning while at the first position. A second inventory task may be received, and a plurality of second positions for the plurality of mobile robots may be determined for performing scanning based on the second inventory task. Second instruction information may be transmitted to the plurality of mobile robots, wherein each of the plurality of mobile robots is configured to: move to a respective second position based on the second instruction information; and perform second wireless scanning while at the second position.

[0018] In some embodiments, a request may be received for scanning an inventory item. In some embodiments, a corresponding mobile antenna may be selected based on one or more properties of the mobile antenna, for example a battery level thereof, or a current location of the mobile antenna.

[0019] In some examples, one or more mobile antennas may be used to provide a wireless scanning gate. For example, a request may be received to form a wireless scanning gate, (for example an RFID gate). A plurality of mobile antennas may be instructed to move to corresponding positions and orientations (i.e., poses) to form the wireless scanning gate. Optionally, wireless scanning gate processing may be performed (e.g., union and / or intersection operations) to identify one or more wireless tags moving through the wireless scanning gate.

[0020] Some examples of the present disclosure relates to localizing one or more inventory items using a moving mobile antenna. In some examples, the localizing may be performed based on a wireless scan performed by the moving mobile antenna. In some examples, the localization may be performed using Doppler information associated with the wireless scan.

[0021] In some embodiments, methods and systems are provided for localizing items using a moving mobile antenna. In some embodiments, a method is provided comprising: performing, using a mobile antenna at a first known position and a first known speed, a firstwireless scan of a tag; determining first Doppler information based on the first wireless scan; performing, using the mobile antenna at a second known position and a second known speed, a second wireless scan of the tag; determining second Doppler information based on the second wireless scan; and determining a position of the tag based on the first and second known positions, the first and second known speeds; and the first and second Doppler information.

[0022] In some embodiments, a current position of the mobile antenna may be determined, using a localization unit of the mobile antenna.

[0023] In some embodiments, the mobile antenna may be moved along a trajectory based on the current position and using at least one actuator, wherein the first and second wireless scans are performed along the trajectory.

[0024] In some embodiments, at least three wireless scans of the tag may be performed using the mobile antenna at known positions and known speeds, wherein the at least three wireless scans may comprise the first and second wireless scans. In some examples, Doppler information for each of the at least three wireless scans may be determined, wherein: determining the position of the tag comprises determining a three-dimensional position of the tag based on the Doppler information for each of the at least three wireless scans.

[0025] In some embodiments, the known positions of the mobile antenna for the at least three wireless scans may not lie along a straight line.

[0026] In some embodiments, a plurality of wireless scans of the tag may be performed along a trajectory using the mobile antenna, wherein the plurality of wireless scans comprises the first and second wireless scans. In some examples, a sign change of a Doppler shift may be determined based on the plurality of wireless scans.

[0027] In some embodiments, a first plurality of wireless scans of the tag may be performed along a first trajectory using the mobile antenna, wherein the first plurality of wireless scans comprises the first and second wireless scans. In some examples, a Doppler shift of each of the first plurality of wireless scans may be determined. In some examples, a second plurality of wireless scans of the tag may be performed by using the mobile antenna along a second trajectory different than the first trajectory. In some examples, a Doppler shift of each of the second plurality of wireless scans may be determined. In some examples, a three-dimensional position of the tag may be determined based on the Doppler shifts of the first and second pluralities of wireless scans.

[0028] In some embodiments, a received signal strength indicator (RS SI) information may be determined based on the first and second wireless scans, wherein: determining the position of the tag may be further based on the RSSI information.

[0029] In some embodiments, a location information of the tag may be received from a warehouse inventory system, wherein: determining the position of the tag is further based on the location information.

[0030] In some embodiments, performing the first and second wireless scans may comprise: transmitting radio frequency identification (RFID) interrogation signals comprising an addressable identifier for the tag; and response signals may be received from the tag.

[0031] Some examples of the present disclosure relate to combining the use of an image and a wireless scan for identifying inventory inconsistencies.

[0032] In some embodiments, methods and systems are provided for identifying an inventory mismatch. In some examples, a method is provided comprising: capturing, using a mobile camera, an image of an inventory item; extracting visual information from the image; determining inventory information of the inventory item corresponding to the visual information; performing, using a mobile antenna, a wireless scan of the inventory item to identify one or more tags; comparing the one or more tags to the inventory information; and identifying an inventory mismatch based on the comparison.

[0033] In some embodiments, determining the inventory information of the inventory item may comprise determining appearance information of the inventory item.

[0034] In some embodiments, the appearance information may indicate a number of boxes or a volume of the inventory item. In some examples, an expected number of tags may be determined based on the appearance information, wherein the expected number comprises a number or a range. In some examples, the inventory mismatch may be determined when it is determined that the one or more tags is not consistent with the expected number of tags.

[0035] In some embodiments, extracting the visual information from the image may comprise identifying text or one or more barcodes associated with the inventory item. In some examples, determining the inventory information of the inventory item may comprise retrieving the inventory information from a warehouse management system based on the text or one or more barcodes.

[0036] In some embodiments, the inventory information may indicate a plurality of tags associated with the inventory item. In some examples, comparing the one or more tags to the inventory information may comprise determining whether the plurality of tags includes the one or more tags.

[0037] In some embodiments, identifying an inventory mismatch may comprise determining that the wireless scan did not identify one or more of the plurality of tags.

[0038] In some embodiments, comparing the one or more tags to the inventory information may comprise identifying one or more additional tags not included in the inventory information. In some examples, the inventory information may be updated to include the one or more additional tags.

[0039] In some embodiments, comparing the one or more tags to the inventory information may comprise: identifying missing and extra tags associated with the inventory information; and identifying complementary missing and extra tags associated with the one or more tags.

[0040] In some embodiments, identifying the inventory mismatch may comprise determining an incorrect labeling of the inventory item; and the incorrect labeling comprises one of an incorrect barcode label applied to the inventory item, incorrect text on the inventory item, or an incorrect tag applied to the inventory item or an article thereof.

[0041] In some embodiments, an autonomous flying robot may comprise the mobile camera and the mobile antenna; and the autonomous flying robot may comprise processing circuitry configured to perform the comparing and the identifying.

[0042] Some examples of the present disclosure relate to combining the use of an image and wireless scan for performing localization.

[0043] In some embodiments, methods and systems are provided for providing localization of scanning data. In some examples, a method is provided comprising: performing, using a mobile antenna, a wireless scan of an environment; identifying a tag of an inventory item based on the wireless scan; capturing, using a mobile camera, an image of the environment; extracting visual information from the image; and determining a location of the tag based on the visual information.

[0044] In some embodiments, initial location information of the tag may be determined based on the wireless scan and a location of the mobile antenna.

[0045] In some embodiments, determining the location of the tag may comprise updating the initial location information based on the visual information.

[0046] In some embodiments, extracting the visual information may comprise determining whether inventory slots in the environment are empty or occupied based on the image; and determining the location of the tag may comprise determining the location in one of the inventory slots that is occupied.

[0047] In some embodiments, identifying the tag of the inventory item may comprise identifying a tag number. In some examples, an article type may be determined based on the tag number.

[0048] In some embodiments, a location or region of the image that matches an appearance characteristic of the article type may be determined.

[0049] In some embodiments, the appearance characteristic may comprise dimension information of the article type or color information of the article type.

[0050] In some embodiments, determining the location of the tag based on visual information may comprise determining a location based on the location or region of the image that matches an appearance characteristic of the article type.

[0051] In some embodiments, a subsequent image of the environment may be captured using the mobile camera. In some examples, subsequent visual information may be extracted from the image. In some examples, it may be determined whether the location of the tag changed based on the subsequent visual information.

[0052] In some embodiments, an autonomous flying robot may comprise the mobile camera and the mobile antenna; and the autonomous flying robot may comprise processing circuitry configured to perform the identifying, the extracting, and the determining.

[0053] Some examples of the present disclosure relate to selecting optimal scan parameter settings for performing wireless scans.

[0054] In some embodiments, methods and systems are provided for inventory scanning. In some examples, a method is provided comprising: storing inventory information about an inventory region, wherein the inventory information indicates tag information associated with the inventory region; selecting a scan parameter setting for wireless scanning of the inventory region based on the inventory information; and performing, using a mobile antenna, the wireless scanning of the inventory region using the scan parameter setting.

[0055] In some embodiments, the scan parameter setting may be one of a Q value, a session type, a power level, a modulation-scheme, or a selective addressing setting.

[0056] In some embodiments, the inventory information may indicate a density of tags or a number of tags in the inventory region.

[0057] In some embodiments, the scan parameter setting may comprise a selective addressing setting that selects a subset of a plurality of tags in the inventory region for wireless scanning.

[0058] In some embodiments, the scan parameter setting may comprise a Q value; and when the inventory information indicates a large number of tags in the inventory region, theselected Q value may be higher than when the inventory information indicates a small number of tags in the inventory region.

[0059] In some embodiments, the inventory information may be received from a warehouse management system.

[0060] In some embodiments, the inventory information may be determined based on a previous wireless scan of the inventory region.

[0061] In some embodiments, the inventory region is a subset of a larger inventory environment.

[0062] In some embodiments, a location of the mobile antenna may be determined using a wireless localization system. In some examples, the mobile antenna may be determined to be in the inventory region based on the location.

[0063] In some embodiments, an autonomous flying robot may comprise the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the selecting and the performing.

[0064] Some examples of the present disclosure relate to performing wireless scanning for inventory item localization in accordance with an associated behavior or state.

[0065] In some embodiments, methods and systems are provided for scanning inventory items. In some examples, a method is provided comprising: storing, for a plurality of inventory items, a plurality of localization states and location information; receiving, for a first inventory item of the plurality of inventory items, wireless scan information; determining updated location information for the first inventory item based on the wireless scan information; updating the localization state for the first inventory item based on the wireless scan information; and determining a wireless scanning priority of the first inventory item based on the updated localization state.

[0066] In some embodiments, the wireless scanning priority may indicate whether to scan for the first inventory item.

[0067] In some embodiments, the wireless scanning priority may indicate how often to perform a scanning pass to scan for the first inventory item.

[0068] In some embodiments, the wireless scanning priority may indicate how many times to scan for the first inventory item during a scanning pass.

[0069] In some embodiments, the localization state for the first inventory item may be updated based on data received from a warehouse management system.

[0070] In some embodiments, the localization state for the first inventory item may be updated based on data received from a user.

[0071] In some embodiments, the wireless scanning priority may comprise one of a first wireless scanning priority, a second wireless scanning priority, and a third wireless scanning priority. In some examples, the first wireless scanning priority causes more wireless scans to be performed for the first inventory item than the second wireless scanning priority. In some examples, the second wireless scanning priority causes more wireless scans to be performed for the first inventory item than the third wireless scanning priority.

[0072] In some embodiments, the localization state for the first inventory item may indicate an accuracy or confidence in the location information for the first inventory item.

[0073] In some embodiments, a wireless scan may be performed using a mobile antenna, to obtain the wireless scan information.

[0074] In some embodiments, an autonomous flying robot may comprise the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the determining, the updating, and the determining.

[0075] Some examples of the present disclosure relate to using a wireless signature (e.g., obtainable by way of wireless scanning) to account for variations in the environment when performing wireless scans (e.g., for inventory validation).

[0076] In some embodiments, methods and systems are provided for scanning inventory items. In some examples, a method is provided comprising: storing radio frequency (RF) signature information for an inventory item; performing, using a mobile antenna, a wireless scan of the inventory item; determining tag information based on the wireless scan; determining whether the tag information is within an expected range based on the RF signature information; and taking an action when the tag information is outside of the expected range.

[0077] In some embodiments, determining the tag information may comprise determining a number of tags identified from the wireless scan. In some examples, determining whether the tag information is within the expected range may comprise determining whether the number of tags is less than a threshold number of tags.

[0078] In some embodiments, the RF signature information may indicate a plurality of tags for the inventory item; and the number of tags may be the number of tags identified of the plurality of tags.

[0079] In some embodiments, it may be determined that one or more articles are missing when the tag information is below the expected range.

[0080] In some embodiments, performing the wireless scan of the inventory item may comprise receiving one or more response signals from one or more respective tags. In someexamples, determining the tag information may comprise determining signal strength based on the one or more response signals.

[0081] In some embodiments, determining whether the tag information is within the expected range may comprise comparing the signal strength to a signal strength threshold.

[0082] In some embodiments, it may be determined that one or more articles associated with the inventory item are oriented differently than expected when the signal strength is not within the expected range.

[0083] In some embodiments, the RF signature information may comprise, for the inventory item, pose information for a plurality of poses and corresponding RF information for each of the plurality of poses.

[0084] In some embodiments, taking the action may comprise flagging the inventory item for further evaluation, determining a different scan setting for a subsequent wireless scan, or capturing, using a camera, an image of the inventory item.

[0085] In some embodiments, an autonomous flying robot may comprise the mobile antenna; and the autonomous flying robot may comprise processing circuitry configured to perform the determining the tag information, the determining whether the tag information is within the expected range, and the taking the action.

[0086] Some examples of the present disclosure relate to integrating a virtual antenna system, such as using one or more mobile antennas, with a physical or static antenna system. For example, a common protocol may be used with reader software for performing scans with virtual antennas and physical or static antennas.

[0087] In some embodiments, methods and systems are provided for using an antenna identification (ID) to perform a wireless scan at a location. In some examples, a method is provided comprising: receiving a scan request comprising an antenna identification (ID) for an antenna; converting the antenna ID to a location; and causing a mobile robot to navigate to the location to perform a wireless scan.

[0088] In some embodiments, the wireless scan may be performed using the mobile robot. In some examples, tag information may be determined based on the wireless scan.

[0089] In some embodiments, the scan request may be received using a low-level reader protocol (LLRP) interface. In some examples, tag information determined based on the wireless scan using the LLRP interface, may be transmitted (e.g., to reader software at a warehouse management system).

[0090] In some embodiments, the scan request may be received from a warehouse management system; and the antenna ID may be converted to the location using a robot management system.

[0091] In some embodiments, the scan request further comprises a reader ID; and converting the antenna ID to the location comprises converting the reader ID and the antenna ID to the location.

[0092] In some embodiments, the antenna ID may be converted to an orientation, wherein causing the mobile robot to navigate to the location to perform the wireless scan may comprise causing the mobile robot to navigate to the location and the orientation to perform the wireless scan.

[0093] In some embodiments, the scan request may comprise a periodic trigger that indicates a plurality of times to perform the wireless scan. In some examples, causing the mobile robot to navigate to the location to perform the wireless scan may comprise causing one or more mobile robots to navigate to the location to perform a wireless scan at each of the plurality of times.

[0094] In some embodiments, causing the one or more mobile robots to navigate to the location to perform the wireless scan at each of the plurality of times may comprise: causing a first mobile robot to navigate to the location to perform the wireless scan at a first time; and

[0095] causing a second mobile robot to navigate to the location to perform the wireless scan at a second time.

[0096] In some embodiments, the scan request may comprise a plurality of antenna IDs. In some examples, the plurality of antenna IDs may be converted to a plurality of locations. In some examples, causing the mobile robot to navigate to the location to perform the wireless scan may comprise causing the mobile robot to navigate to each of the plurality of locations to perform a respective wireless scan.

[0097] In some embodiments, the mobile robot may be an autonomous flying robot comprising an antenna.

[0098] In some examples, the present disclosure relates to an iterative process for wireless scanning and / or imaging capturing for the purpose of performing inventory tasks (e.g., inventory validation).

[0099] In some embodiments, methods and systems are provided for performing tag identification. In some examples, a first wireless scan of an environment is performed using an antenna of a mobile robot. Based on the wireless scan, a first set of tags is identified using the mobile robot. It is determined, using the mobile robot, whether a matching criterion is metbased on the first set of tags. In response to determining the matching criterion is not met, additional information of the environment is obtained using the mobile robot.

[0100] In some embodiments, obtaining the additional information of the environment may comprise: moving the mobile robot to a new location; performing, using the antenna at the new location, a second wireless scan of the environment; and identifying, using the mobile robot, a second set of tags based on the wireless scan.

[0101] In some embodiments, a union operation may be performed on the first set of tags and the second set of tags.

[0102] In some embodiments, it is further determined, using the mobile robot, whether the matching criterion is met based on the first set of tags and the second set of tags.

[0103] In some embodiments, obtaining the additional information of the environment may comprise: capturing, using a camera of the mobile robot, an image of the environment; and extracting visual information from the image.

[0104] In some embodiments, it is further determined, using the mobile robot, whether the matching criterion is met based on the first set of tags and the visual information.

[0105] In some embodiments, in an iterative manner until the matching criterion is met or until a stopping criterion is met (e.g., a predetermined number of iterations is performed): additional information of the environment may be obtained; and it may be determined whether the matching criterion is met.

[0106] In some embodiments, in response to determining the matching criterion is met, it may be indicated that a first scan request is complete and the mobile robot may be moved to a new location indicated in a second scan request.

[0107] In some embodiments, the matching criterion may comprise a list of tags in the environment, a number of expected tags in the environment, or a range of expected tags in the environment.

[0108] In some embodiments, the mobile robot may be an autonomous flying robot.

[0109] In some embodiments, the systems of the present disclosure comprise processing circuitry configured to perform the methods of the present disclosure. In some embodiments, the systems of the disclosure also comprise communication circuitry for receiving scan requests and for outputting computed values and results of the methods. In some embodiments, the present disclosure also includes non-transitory computer-readable medium storing computer-readable instructions thereon, wherein the instructions comprise instructions for performing the methods of the present disclosure.

[0110] It will be appreciated that features described herein as being suitable for incorporation into one or more examples or embodiments of the present disclosure are intended to be generalizable across any and all examples and embodiments of the present disclosure.Brief Description of the Drawings[OHl] The above and other objects and advantages of the disclosure will be apparent upon consideration of the following detailed description, taken in conjunction with the accompanying drawings, in which like reference characters refer to like parts throughout, and in which:

[0112] FIG. 1 shows a block diagram of an illustrative warehouse system, in accordance with some embodiments of this disclosure;

[0113] FIG. 2 shows a block diagram of an illustrative robot, in accordance with some embodiments of this disclosure;

[0114] FIG. 3 A shows an illustrative inventory item or article, in accordance with some embodiments of this disclosure;

[0115] FIG. 3B shows an illustrative mobile robot, in accordance with some embodiments of this disclosure;

[0116] FIGS. 4A and 4B each show a plan view of an example implementation of a robot performing an inventory task, in accordance with some embodiments of this disclosure;

[0117] FIG. 5 depicts a plan view of an example implementation in which a robot is configured to move to two virtual antenna positions, in accordance with some embodiments of this disclosure;

[0118] FIG. 6 depicts an elevation view of a warehouse environment in which a plurality of mobile antennas are used to provide an RFID scanning gate, in accordance with some embodiments of this disclosure;

[0119] FIG. 7 is a flowchart of an illustrative process for performing a wireless scan of a target scanning region, in accordance with some embodiments of this disclosure;

[0120] FIG. 8 shows an illustrative plan view of a warehouse environment and a plurality of inventory tasks implemented, in accordance with some embodiments of the present disclosure;

[0121] FIG. 9A shows an illustrative sequence of scans of a single inventory item or article performed by a robot while moving along a path, for obtaining a location of the singleinventory item or article using the Doppler effect, in accordance with some embodiments of this disclosure;

[0122] FIG. 9B is a chart illustrating the use of Doppler frequency to identify an x position as used in the example of FIG. 9A, in accordance with some embodiments of this disclosure;

[0123] FIGS. 10A-B show further illustrative sequences of scans of a single inventory item or article performed by a robot while moving along a path, for obtaining a location of the single inventory item or article using the Doppler effect, in accordance with some embodiments of this disclosure;

[0124] FIG. 11 illustrative example schematic view of a robot management system configured for receiving scan requests, for example from a warehouse management system, and further configured to send instructions to one or more robots for performing the scan requests, in accordance with some embodiments of the present disclosure;

[0125] FIG. 12 is a flow chart of an illustrative process for localization of an inventory item or article in accordance with some embodiments of the present disclosure;

[0126] FIG. 13 shows an illustrative front view of a storage rack comprising inventory items or articles stored thereon, the storage rack comprising an upper shelf and a lower shelf representing two wireless scanning scenarios, in accordance with some embodiments of the present disclosure;

[0127] FIG. 14 is a flow chart of an illustrative process for localization of an inventory item or article in accordance with some embodiments of the present disclosure, including the example of FIG. 13;

[0128] FIG. 15A shows an illustrative plan view of a mobile robot in accordance with some embodiments of the present disclosure moving within a warehouse environment and performing an inventory task comprising performing wireless scans and capturing an image;

[0129] FIG. 15B shows an illustrative image captured during the inventory task of FIG.15 A, in accordance with some embodiments of the present disclosure;

[0130] FIG. 16 is a flow chart of an illustrative process for localization of an inventory item or article in accordance with some embodiments of the present disclosure, including the example of FIGS. 15A-B;

[0131] FIGS. 17A-C each shows an illustrative plan view of a warehouse environment in which a mobile robot in accordance with some embodiments of the present disclosure moves in the performance of an inventory task;

[0132] FIG. 18 is a flow chart of an illustrative process for selecting a scan parameter for performing wireless scanning in accordance with some embodiments of the present disclosure, including the example of FIG. 17A-C;

[0133] FIG. 19 shows an illustrative sequence of plan views of a warehouse environment in which a mobile robot performs a series of scanning paths, in accordance with some embodiments of the present disclosure moves;

[0134] FIG. 20 shows an illustrative process flow diagram depicting a plurality of behavior states of an example system, in accordance with some embodiments of the present disclosure;

[0135] FIG. 21 is a flow chart of an illustrative process for localization of an inventory item or article in accordance with some embodiments of the present disclosure, including the example of FIG. 19 and FIG. 20;

[0136] FIG. 22 shows an illustrative isometric view of an inventory item, comprising a plurality of inventory articles stacked on a pallet, and a plurality of virtual antenna positions in accordance with some embodiments of the present disclosure;

[0137] FIG. 23 an illustrative example block diagram showing components of a system suitable for making use of wireless signatures in the performing of inventory item localization tasks such as that described in relation to FIG. 22, in accordance with some embodiments of the present disclosure;

[0138] FIG. 24 is a flow chart of an illustrative process for using RF signature information for wireless scanning in accordance with some embodiments of the present disclosure, including the example of FIG. 22 and FIG. 23;

[0139] FIG. 25 shows an illustrative example block diagram of a system for that integrates a virtual antenna system with a physical antenna system, in accordance with some embodiments of the present disclosure;

[0140] FIG. 26 is a flow chart of an illustrative process for using an antenna identification (ID) to perform a wireless scan at a location in accordance with some embodiments of the present disclosure, including the example of FIG. 25;

[0141] FIG. 27 shows an illustrative example process flow diagram depicting an iterative process for wireless scanning and / or image capturing, in accordance with some embodiments of the present disclosure; and

[0142] FIG. 28 is a flow chart of an illustrative process for performing tag identification in accordance with some embodiments of the present disclosure, including the example of FIG. 27.Detailed Description

[0143] FIG. 1 shows a block diagram of an illustrative warehouse system 100, in accordance with some embodiments of this disclosure. System 100 may be implemented in any suitable warehouse or location that stores and manages goods, materials, or any other types of items or articles. For example, system 100 may be implemented in large distribution facilities or small stores. System 100 includes a warehouse management system 110 and robot management system 120.

[0144] Warehouse management system 110 controls warehouse operations. As shown, warehouse management system 110 is communicatively coupled to an inventory information store or database 116, a wireless tag database 118, scanner(s) 140, and robot management system 120. Depending on the type of warehouse, warehouse management system 110 may control warehouse operations starting from when items enter the warehouse until the item leaves the warehouse. Warehouse management system 110 can manage warehouse tasks such as the picking of goods from shelves for shipping and storing received goods on shelves. Warehouse management system 110 tracks the location of items within the warehouse using inventory information and associated wireless tags. When items arrive, the items may be scanned using, for example scanners 140. In some situations, the items arrive with one or more labels (comprising label information such as barcodes) or wireless tags already on the items and one or more of these labels or wireless tags are used by warehouse management system 110 for tracking purposes. In other situations, labels or wireless tags are added to the items.

[0145] As used herein, labels can be any suitable label carrying information identifying an item or inventory information associated therewith. The label information may comprise, for example, a barcode, a fiducial, an image or text.

[0146] As used herein, barcode refers to any visually encoded information that is machine- readable. Barcodes include one-dimension barcodes (e.g., having parallel lines having varying widths and spacing) and two-dimension barcodes (e.g., having patterns of shapes such as rectangles, dots, and hexagons). Barcodes can be black and white or have a range of colors.

[0147] As used herein, wireless tag refers to any circuitry configured to use wireless signals to transmit data wirelessly to a reader, enabling identification, tracking, or information exchange without direct contact. The wireless tags may be passive or active. For example, in some examples, the wireless tags are RFID tags including powered circuitry for active data transmission, or passive circuitry configured to be excited by a signal incident thereon. Whilesome examples herein are described using RFID tags, any suitable passive or active wireless tag technology will be appreciated, for example as described in relation to FIG. 3B.

[0148] Inventory information database 116 may be used to store and maintain inventory information (such as identification information) used by warehouse management system 110 to track each item in the warehouse. For example, when a label of an item is scanned, inventory information database 116 may associate the label information (e.g., the identification information, barcode, target message, or payload of the information) with the item. Additional information may also be stored such as the item contents, arrival date, and warehouse location (e.g., aisle, bay, level, and position or rack, level, and space). Database 116 may store information in a data structure that comprises one or more fields for each type of information stored (e.g., a warehouse location field, one or more barcode fields, etc.). When an item needs to be moved, the warehouse management system 110 may generate an instruction to move the item from a first location in the warehouse to a second location of the warehouse. In some warehouses, the instruction is sent to a worker who uses a forklift to manually move the item. Each location in the warehouse may also include a label or barcode. Accordingly, when a worker moves an item, the worker can use a scanner 140 to scan the location label or barcode and the item label or barcode at the first location and then after moving the item the worker can scan the item label or barcode again and the location label or barcode at the second location. Warehouse management system 110 receives the scan information from the scanner 140 and updates the location information for the item. Accordingly, warehouse management system 110 maintains inventory information database 116 to ensure it is up to date.

[0149] Wireless tag database 118, which may in some examples be stored alongside, or as part of, the inventory information database 116, may also store identification information that is used by warehouse management system 110 to track each item in the warehouse. For example, when a wireless tag of an item is scanned, wireless tag database 118 associates the wireless tag (e.g., the identification information) with the item. Additional information may also be stored associated with each wireless tag, for example the inventory information discussed, such as the item contents, arrival date, and warehouse location (e.g., aisle, bay, level, and position or rack, level, and space). Database 118 may store information in a data structure that comprises one or more fields for each type of information stored (e.g., a warehouse location field, one or more wireless tag fields, etc.). When an item needs to be moved, the warehouse management system 110 may generate an instruction to move the item from a first location in the warehouse to a second location of the warehouse. In somewarehouses, the instruction is sent to a worker who uses a forklift to manually move the item. Each location in the warehouse may also include a wireless tag or label. Accordingly, when a worker moves an item, the worker can use a scanner 140 to scan the location wireless tag or label and the item wireless tag at the first location and then after moving the item the worker can scan the item wireless tag again and the location wireless tag or label at the second location. Warehouse management system 110 receives the scan information from the scanner 140 and updates the location information for the item. Accordingly, warehouse management system 110 maintains wireless tag database 118 to ensure it is up to date.

[0150] In some embodiments, inventory items may comprise multiple other inventory items or articles. For example, an inventory item may be a pallet holding multiple other inventory items (e.g., a plurality of boxes, each comprising one or more articles). The pallet inventory item may include a label, a wireless tag, or both. Additionally, each inventory item on the pallet may also include a label, a wireless tag, or both. The inventory information database 116 and wireless tag database 118 may thus store information about all of the inventory items and information associating inventory items with each other (e.g., a pallet inventory item being associated with the inventory items stored thereon).

[0151] For various reasons, the location information for items in a warehouse may be inaccurate. For example, a worker may move an item to an incorrect location or a worker may forget to scan a location label or wireless tag after moving an item and thus the location information managed by warehouse management system 110 may include errors. These errors can impact upstream and downstream operations and the overall efficiency of a warehouse. Accordingly, warehouse management system 110 may request inventory validation tasks to be performed to confirm the location of items in the warehouse. In some embodiments, the inventory validation tasks can be performed manually by workers using scanners 140. For example, a worker can scan an item in a warehouse location using a scanner 140 and the label or wireless tag can be compared, by way of the inventory information database 116 and optionally the wireless tag database 118, to a label or wireless tag expected to be found at that location. In some embodiments, as explained below, the inventory validation tasks can be transmitted to robot management system 120 to be performed autonomously or semi-autonomously.

[0152] Warehouse management system 110 may comprise processing circuitry 114 which may comprise hardware, software or any combination thereof, such as, for example, one or more central processing units (CPUs) configured to execute instructions stored in non- transitory computer-readable media (e.g., memory) to implement operating system(s) andapplications of warehouse management system 110 and perform and / or control various operations of the warehouse. Warehouse management system 110 may further comprise communication circuitry 112 configured to transmit and receive communications from barcode database 116, wireless tag database 118, scanners 140, and robot management system 120. Communication circuitry 112 may also be configured to transmit and receive communications between components within warehouse management system 110.

[0153] The memory of processing circuitry 114 may comprise one or more of, for example, Random Access Memory (RAM), Read Only Memory (ROM), EEPROM, ASIC, optical storage, magnetic storage, flash memory, solid state memory, or any combination thereof, or any other suitable medium used to store data. The memory may be configured to store one or more instructions (e.g., in the form of an application) executable by processing circuitry 114 to, for example, manage the locations of items in the warehouse and to request inventory validation tasks. Any suitable programming languages may be employed to implement such instructions and applications, e.g., Java, C, Python, Go, JavaScript (e.g., React library), Typescript, Handlebar, React, etc.

[0154] Robot management system 120 controls robots within the warehouse. As shown, robot management system 120 is communicatively coupled to tasks database 126, scanner(s) 140, robots 130A, 130B, . . ., and 13 ON (collectively referred to as robots 130), and warehouse management system 110. Robot management system 120 controls robots 130 to perform tasks, such as tasks in tasks database 126. For example, robot management system 120 may receive inventory validation tasks from warehouse management system 110 and store them in tasks database 126. Robot management system 120 may then assign the inventory validation tasks to specific ones of robots 130 to perform. In some embodiments, robots 130 are autonomously controlled vehicles (e.g., ground vehicles or aerial vehicles) that are capable of navigating through the warehouse to specific locations. Robots 130 may be any mobile robot such as ground based robots and aerial or flying robots. In some embodiments, robots 130 may be autonomous mobile robots such as ground-based autonomous mobile robots and aerial or flying autonomous mobile robots. Robots 130 may include one or more sensors such as a camera that are used to capture images of locations in the warehouse, and a wireless tag reader, such as an antenna, used to read wireless tags within a corresponding region. The images, wireless tag and label data captured by the sensors, can be used to validate the location information managed by warehouse management system 110. Robot management system 120 may also assign inventory validation tasks to be performed by workers using scanners 140. For example, if a robot 130 is obstructed fromreaching a location, the inventory validation task can be performed by a worker. As another example, if wireless tag or label data is not able to be sufficiently captured with a robot 130 at a location, then instructions can be generated for having a worker use a scanner 140 to scan the label or wireless tag at a location.

[0155] In some embodiments, robot management system 120 may have access to inventory information database 116 and wireless tag database 118 via warehouse management system 110. In some embodiments, robot management system 120 may store the information from inventory information database 116 and wireless tag database 118 in database 126 or in one or more other databases.

[0156] Robot management system 120 may comprise processing circuitry 124 which may comprise hardware, software or any combination thereof, such as, for example, one or more central processing units (CPUs) configured to execute instructions stored in non-transitory computer-readable media (e.g., memory) to implement operating system(s) and applications of robot management system 120 and manage task for robots 130. Robot management system 120 may further comprise communication circuitry 122 configured to transmit and receive communications from tasks database 126, robots 130, scanners 140, and robot management system 120. Communication circuitry 122 may also be configured to transmit and receive communications between components within robot management system 120.

[0157] The memory of processing circuitry 124 may comprise one or more of, for example, Random Access Memory (RAM), Read Only Memory (ROM), EEPROM, ASIC, optical storage, magnetic storage, flash memory, solid state memory, or any combination thereof, or any other suitable medium used to store data. The memory may be configured to store one or more instructions (e.g., in the form of an application) executable by processing circuitry 124 to, for example, manage tasks such as inventory validation tasks. Any suitable programming languages may be employed to implement such instructions and applications, e.g., Java, C, Python, Go, JavaScript (e.g., React library), Typescript, Handlebar, React, etc.

[0158] It will be understood that while warehouse management system 110 and robot management system 120 are depicted as separate systems, in some embodiments the functionality can be included in a single system. For example, the functionality performed by robot management system 120 may be included in warehouse management system 110.

[0159] FIG. 2 shows a block diagram of an illustrative robot 130, in accordance with some embodiments of this disclosure. The illustrative robot 130 in the example shown is an autonomous flying robot 130. Robot 130 includes four actuators 202 that are used to rotate respective propellers that allow the robot 130 to fly and control its movement through space.Robot 130 may also include one or more sensors 210 that are used to assist in navigating through space. Sensors 210 may include a localization sensor (e.g., an indoor positioning sensor) for determining the position of robot 130. For example, when robot 130 is used with system 100 of FIG. 1, the localization sensor can be used to determine the position of robot 130 in a warehouse (e.g., based on signals from anchors positioned within the warehouse, based on signals from LiDAR sensors, and / or based on signals from cameras). Sensors 210 may also include collision avoidance sensors such vision sensors, ultrasonic sensors, infrared (IR) sensors, LiDAR sensors, or the like.

[0160] Robot 130 may comprise communication circuitry 212 configured to transmit and receive communications from, for example, robot management system 120. For example, robot 130 may receive one or more inventory validation tasks from robot management system 120. Robot 130 may also comprise memory 216 for storing the inventory validation tasks. Memory 216 may comprise one or more of, for example, Random Access Memory (RAM), Read Only Memory (ROM), EEPROM, ASIC, optical storage, magnetic storage, flash memory, solid state memory, or any combination thereof, or any other suitable medium used to store data. Memory 216 may also store an environment map such as a map of a warehouse showing free space, obstructions (e.g., walls, columns, and storage racks), and inventory locations. The inventory validation tasks may be received in any of a number of formats. For example, the inventory validation tasks may include a location in the warehouse and robot 130 may be configured to determine a route to the location based on the environment map to perform the validation. As another example, the robot management system may include one or more available routes for robot 130 to take to perform the validation. In some embodiments, the inventory validation task may also include a list of one or more wireless tags (e.g., RFID tags) that are expected to be at the location. In some embodiments, the wireless tag information may comprise identification information that corresponds to the RFID tag payload.

[0161] Robot 130 may comprise processing circuitry 214 configured to manage the operation of robot 130. Processing circuitry 214 may comprise hardware, software or any combination thereof, such as, for example, one or more central processing units (CPUs) configured to execute instructions stored in non-transitory computer-readable media (e.g., memory 216) to implement operating system(s) and applications (e.g., route navigation and inventory validation). For example, processing circuitry 214 may determine a route to a location based on a current location of robot 130 using the free space indicated by theenvironment map. In some embodiments, processing circuitry 214 determines a shortest path or fastest path to a location.

[0162] Robot 130 may comprise camera 218 configured to capture images. Camera 218 may be used by robot 130 to capture images of locations within, for example, a warehouse. The images can be used to perform inventory validation and localization by, for example, comparing label data such as barcode data from the image to target label data expected to be at the location. For example, processing circuitry 214 may extract the visual label data from the image and determine a match between the extracted label data and target label data (for example a target barcode). Processing circuitry 214 may transmit, using communication circuitry 212, the results of the inventory validation to robot management system 120. In some embodiments, processing circuitry 214 may transmit the captured image to robot management system 120 such that robot management system 120 performs the comparison or computes the match.

[0163] Robot 130 may comprise antenna 220 configured to read wireless tag data using any suitable wireless scanning. Antenna 220 may be used by robot 130 to read wireless tag data of inventory items or locations within, for example, a warehouse. The wireless tag data can be used to perform inventory validation by, for example, comparing wireless tag data read by the antenna 220 to a target wireless tag data expected to be at the location. For example, processing circuitry 214 may extract the wireless tag data from wireless scan data read by the antenna 220 and determine a match between the extracted wireless data and expected wireless data. Processing circuitry 214 may transmit, using communication circuitry 212, the results of the inventory validation to robot management system 120. In some embodiments, processing circuitry 214 may transmit the captured wireless tag data to robot management system 120 such that robot management system 120 performs the comparison or computes the match. The antenna 220 may be configured to read the wireless tag data within a wireless scanning range or detection field, the wireless scanning range or detection field optionally having an associated scanning power, a pattern, dimensions or a shape defining the wireless scanning range or detection field within which wireless tag data may be read. The wireless scanning range or detection field may in some implementations be dynamic and adjustable, for example in accordance with instructions received by or executed by the processing circuitry 214, such as in accordance with an inventory task. The wireless scanning range or detection field may comprise a direction or orientation, which may be at least in part associated with the instructions or the physical positioning or orientation of the antenna 220on the robot 130. Examples will be appreciated wherein the antenna is an omnidirectional antenna.

[0164] The methods of the present disclosure can be implemented on any one or a combination of processing circuitry 114, 124, and 214. Accordingly, it will be understood that processing circuitry, as used herein, includes processing circuitry distributed across multiple devices, system, or networks. It will also be understood that the processing circuitry may be configured to execute instructions stored in non-transitory computer-readable media and such media and stored instructions may also be distributed across multiple devices, system, or networks.

[0165] While FIG. 2 shows robot 130 as an autonomous flying robot, it will be understood that in some embodiments robot 130 may be implemented as an autonomous ground robot, where actuators 202 may be include one or more motors for rotating one or more drive wheels to move the autonomous ground robot along the ground and one or more motors for steering the autonomous ground robot.

[0166] FIG. 3A shows an illustrative inventory item or article 300, in accordance with some embodiments of this disclosure. The inventory item or article 300 can include one or more labels comprising any suitable label data such as text 302 or barcodes 304 displayed thereon. The inventory item or article 300 can include a wireless tag 306, such as an RFID tag, positioned in any suitable location on or within the inventory item or article 300. In examples wherein the inventory item or article 300 comprises a box containing one or more objects, the box may comprise a corresponding wireless tag 306 located thereon or contained therewithin in any suitable location, and / or one or more of the one or more objects may comprise a corresponding wireless tag 306 located thereon or contained therewithin in any suitable location. The text data 302 may for example include any suitable identification information associated with the inventory item or article 300 such as a brand name, an article, item or product name, and an article, item or product description. Barcode 304 can be generated using any number of barcode standards. Barcode 304 as illustrated is a thirteen-digit EAN-13 barcode, which is commonly used standard in global trade to identify a specific retail product type, in a specific packaging configuration, from a specific manufacturer. Barcode 304 is generated by encoding 13 digits into a pattern of vertical lines along with lines representing barcode formatting data. Accordingly, different portions of barcode 304 correspond to the encoded digits and the barcode formatting data. End portions of barcode 304 each correspond to two vertical lines and the space between them. A first end portion is a start marker and a second end portion is an end marker for barcode 304. A central portion is a marker for thecenter of barcode 304. The central portion corresponds to the two vertical lines and the three spaces that are between and adjacent to the vertical lines. The two end portions and the central portion correspond to barcode formatting data. The remaining portions of barcode 304 correspond to the encoding of thirteen digits.

[0167] In some embodiments, the thirteen digits of encoded data in barcode 304 correspond to the barcode payload (also referred to herein as a barcode number and message). In some embodiments, one or more digits of the thirteen digits is used for barcoding formatting data. For example, if the data to be encoded is twelve digits, the remaining digit may be used as checksum data (e.g., a check digit), which can be used to determine whether the twelve digits were correctly decoded. As used herein, the term barcode formatting data also includes the checksum data because it is used in the decoding process. Thus, in this example, the barcode payload is 12 digits and the remaining information represented in barcode 304 is the barcode formatting data. It will be understood that the barcode 304 is merely illustrative and any type of barcode standard or type can be used in accordance with the present disclosure.

[0168] In some embodiments, the system and methods of the present disclosure determine whether an image contains a target message. In some implementations, a probability is assigned to the image containing the target message. The input to the system can be an image and the output can be a single number. In some implementations, the number is 0 if the image does not contain a barcode encoding the target message, and 1 if it does. In other implementations the number is between 0 and 1 and indicates the probability of the image to contain the barcode.

[0169] The wireless tag data can include any suitable wireless tag data corresponding to one or more wireless tags 306. In some implementations each inventory item or article 300 comprises a single corresponding wireless tag 306 having wireless tag data associated therewith corresponding to the inventory item or article 300. In some implementations each inventory item or article 300 comprises more than one wireless tag 306, each tag having wireless tag data associated therewith which, when read together with wireless tag data of the other of the wireless tags 306 corresponds to the inventory item or article 300. In some examples wherein the inventory item or article is a box comprising one or more pairs of shoes, one or both shoes of each pair of shoes may comprise a corresponding wireless tag 306. In some examples, the system and methods of the present disclosure determine whether the inventory item or article 300 contains a target wireless tag. In some implementations, a probability is assigned to the wireless tag data from the data read by the antenna. The input to the system can be the data read by the antenna and the output can be a single number. Insome implementations, the number is 0 if the data read by the antenna does not correspond to a target wireless tag, and 1 if it does. In other implementation the number is between 0 and 1 and indicates the probability of the data read by the antenna to contain the target wireless tag data.

[0170] The label data can include any suitable text data 302 which in the illustrative example includes a brand name of the inventory item or article 300, an item name of the inventory item or article 300 and an item description of inventory item or article 300. In some examples wherein the inventory item or article is one or more pairs of shoes, the item description can, for example, include a shoe size and / or color. In some embodiments, the system and methods of the present disclosure determine whether an image captured by the camera, which may include the text data 302, contains target text data. In some implementations, any suitable text recognition method may be performed on the image data containing the text data. In some implementations, a probability is assigned to the image containing the text data. The input to the system can be an image and the output can be a single number. In some implementations, the number is 0 if the image does not contain text data comprising the target text data, and 1 if it does. In other implementation the number is between 0 and 1 and indicates the probability of the image to contain the target text data.

[0171] FIG. 3B shows an illustrative mobile robot 130, which in the example shown takes the form of an autonomous flying robot 130, in the process of performing a wireless scan and capturing an image of an inventory item or article 352 in accordance with some embodiments of the present disclosure. In particular, the robot 130 is shown positioned at a virtual antenna location or pose associated with the wireless scan being performed, where the virtual antenna location or pose may have a position and an orientation associated therewith. Examples will be appreciated wherein a virtual antenna pose may comprise position or location information, and does not comprise orientation information. In particular, FIG. 3B illustrates an antenna 354 of the robot 130 performing a wireless scan of an area, with the wireless scan delineated by the boundaries of a detection field 356 thereof. Within the detection field is shown an inventory item or article 352 to be scanned by the wireless scan.

[0172] The robot 130 further comprises a camera 358 (e.g., camera 218) having a camera sensor configured to capture an image within a field of view 360 thereof. The camera sensor of the camera 358 may be configured for performing any type of imaging and may, for example, be configured for visible light imaging, infrared (IR) imaging, thermal imaging, ultraviolet (UV) imaging, stereo or spatial imaging, time-of-flight imaging, lidar (light detection and ranging) imaging, or any suitable combination thereof.

[0173] In the example of FIG. 3B, the robot 130 is configured to move to the virtual antenna position shown, for example, following receipt of corresponding instructions from a warehouse management system (e.g., 110) or a robot management system (e.g., 120) as described herein. While at the virtual antenna position shown, the robot 130 is configured to perform the wireless scan using the antenna 354 thereof, and capture the image using the camera 358 thereof. The wireless scan and the imaging may be performed at any suitable time and in any order, and in some examples may be performed simultaneously, or asynchronously. The antenna 354 and the camera 358 may be affixed to the robot 130 such that they are configured to be moved independently of the robot 130, for example by a processing circuitry of the robot 130. In some examples, the robot 130 may, for example by way of the processing circuitry, be configured to move the antenna 354 or the camera 358 to a position or orientation matching a position or orientation associated with a virtual antenna location or pose.

[0174] The antenna 354 is representative of a range of possible antenna configurations and technologies, enabling a variety of scanning methods for identifying, localizing, and analyzing the inventory item or article 352. The detection field 356 may vary in shape, such as spherical, conical, or planar, and the wireless scan may include processes ranging from detection to detailed property analysis.

[0175] In some examples, the antenna 354 may be an RFID antenna, configured to perform radio-frequency identification scanning. The detection field 356 in this context may represent an electromagnetic field generated by the antenna to interrogate RFID tags within its range. The RFID antenna may operate across one or more frequency bands, for example low- frequency (LF, 125-134 kHz), high-frequency (HF, 13.56 MHz), and ultra-high-frequency (UHF, 860-960 MHz), as well as microwave bands (e.g., 2.4 GHz). The inventory item or article 352 may include passive or active RFID tags, which can store data and provide unique identifiers associated therewith. Some examples may include near-field communication (NFC) for short-range applications, or active RFID tags with onboard power sources, which may enable extended range and additional functionalities, such as data logging or continuous status updates.

[0176] The antenna 354 may, in some examples, utilize Wi-Fi or Bluetooth technologies for scanning. The detection field 356 may in such examples represent the coverage area of such short-range communication protocols, typically up to 100 m for Wi-Fi and 10 m for Bluetooth, although ranges may vary depending on, for example, environmental factors and power settings. The wireless scan may, for example, involve transmitting a probing signaland receiving responses from devices associated with, or contained within, the inventory item or article 352, allowing for localization, identification, and data exchange. In another example, the wireless scan may involve turning on a receiver for a given duration to receive Bluetooth messages, without first sending a probing signal.

[0177] Applications of Wi-Fi scanning may include signal strength analysis for indoor positioning systems and device discovery in dense environments. Bluetooth scanning, for example using Bluetooth Low Energy (BLE), may facilitate power-efficient tracking of items in real time. Wi-Fi Direct or mesh networking capabilities may be implemented in some examples to enable ad hoc communication with the inventory item or article 352.

[0178] In some examples, the antenna 354 may employ ultra- wideband (UWB) scanning. The detection field 356 in such examples may represent an area scanned using low-power, high-bandwidth pulses, and may for example be optimized for short to medium ranges. UWB technology may be used to provide high localization accuracy (for example centimeter-level accuracy), and may provide improved resilience to multipath interference for use in indoor environments which may experience complex signal reflections.

[0179] The antenna 354 may, in some examples, operate as a millimeter wave (mmWave) radar, and may for example emit signals in an appropriate frequency range of around 30 to 300 GHz. The detection field 356 in such cases may correspond to beam coverage of the radar, which may in some examples be used to achieve high spatial resolution. The wireless scan may, for example comprise transmitting mmWave signals and analyzing signal reflections, which may be used to detect the presence, position, and movement of the inventory item or article 352. mmWave technology may be well-suited for applications requiring penetration through materials or detection of small or concealed objects.

[0180] The antenna 354 may, in some examples, leverage 5G technology for wireless scanning. The detection field 356 in such examples may correspond to an area within which 5G signals, operating across a range of frequency bands, enable communication, localization, and analysis of the inventory item or article 352. 5G typically operates across frequency bands: low-band (sub-1 GHz), mid-band (1-6 GHz), and high-band (millimeter wave, above 24 GHz). Each band may be suited for different use cases or different scanning applications.

[0181] Low-band 5G may, for example, enable extended range and robust signal penetration, and may be applicable to wide-area scanning and environments with physical obstructions. Mid-band 5G may, for example, balance range and bandwidth, and may be applicable to applications such as real-time data collection and moderately high-resolution localization. High-band 5G, particularly in the millimeter wave spectrum, may in someexamples provides ultra-low latency, high data rates, and precise localization, and may be applicable for high-density environments or scenarios requiring rapid and accurate scanning.

[0182] Network slicing offered by 5G implementations may permit allocation of scanning resources for specific use cases, and multiple-input multiple-output (MIMO) systems, which may be configured for dynamic beamforming to focus scanning efforts on specific regions or items. The integration of edge computing with wireless scanning systems such as 5G may further enhance processing capabilities, enabling complex real-time analysis of the item or article 352 within the detection field.

[0183] Applications of 5G-enabled scanning may include high-speed object tracking, Internet of Things (loT) device management, and enhanced logistics operations. 5G networks may provide high scalability, and an ability thereof to support extensive device connectivity, may be applicable in some cases for environments where large numbers of items require simultaneous scanning and interaction.

[0184] The antenna 354 may integrate multiple scanning technologies to create hybrid systems. For example, RFID scanning may be combined with mmWave radar to enable both identification and high-resolution localization of the inventory item or article 352. Similarly, UWB may be paired with Wi-Fi to enhance indoor navigation, leveraging a precision level associated with UWB, and a broader coverage area associated with Wi-Fi. In some embodiments, robot 130 may include multiple antennas 354, each have different characteristics (e.g., directional versus omnidirectional, different frequency bands or bandwidth, or used with different protocols such as RFID or Bluetooth).

[0185] Hybrid systems may, in such examples, provide the advantage of overcoming individual limitations of each technology. For instance, combining short-range precision with long-range coverage can optimize performance for applications such as asset tracking, autonomous systems, and smart logistics. Examples may be appreciated wherein use of the wireless technology may be integrated with Al-based algorithms, for example for advanced pattern recognition and object classification.

[0186] The antenna 354 and associated scanning technologies described herein provide a flexible and scalable framework for detecting, identifying, localizing, and analyzing the inventory item or article 352 within the detection field 356. These technologies are adaptable for a wide range of industries, including logistics, security, healthcare, and consumer electronics. By tailoring the antenna configuration and scanning methods to specific use cases, the system can address diverse operational requirements while accommodating emerging technological advancements.

[0187] It will be appreciated that while the detection field 356 is illustrated with a defined boundary for the purposes of clarity, in practice, the boundary of the detection field is not a sharp step change but rather represents a gradient or transition zone. This gradient reflects the attenuation of signal strength or effectiveness of the scanning process as a function of distance or environmental factors, and the nature of this transition may vary depending on the specific wireless technology employed.

[0188] For RFID scanning, for example, the gradient may be determined by the strength of the electromagnetic field generated by the RFID antenna, which may diminish with distance or magnetic coupling efficiency. For Wi-Fi and Bluetooth technologies, the detection field boundary may be defined by a range at which the signal remains sufficiently strong to allow reliable communication or device detection. This range may be subject to environmental interference, such as walls or other obstructions, leading to a gradual decline in signal quality and effective range. In UWB scanning, the detection field boundary may represent an area within which UWB pulses can be accurately received and processed. The boundary may be influenced by factors such as signal-to-noise ratio (SNR) and multipath interference, resulting in a gradual reduction in localization precision beyond the core detection zone. For mmWave radar, the detection field boundary may correspond to a region within which sufficient signal reflection is achieved for accurate imaging or localization. Due to the directional nature of mmWave signals, the gradient may in some examples be influenced by beam dispersion, target reflectivity, and environmental absorption, such as by moisture or certain materials.For acoustic or ultrasonic scanning, the detection field boundary may reflect an attenuation of sound waves as they propagate through a medium. Factors such as the density and composition of the medium and the frequency of the sound waves contribute to a gradual decrease in signal strength and resolution at greater distances.

[0189] It will be appreciated that the wireless scanning may be performed based on any suitable wireless scanning parameters, which may be based on the wireless scanning technology implemented.

[0190] Therefore, for any wireless scanning technology implemented, the detection field boundary 356 depicted in FIG. 3B, and the shape thereof, should be understood as an approximation rather than an absolute delineation, for example with performance tapering off in a manner specific to the underlying physics of the wireless scanning mechanism used.

[0191] In some examples, any number of virtual antennas may be provided, to be moved thereto by one or more physical mobile antennas, which may be an autonomous mobile robot carrying an antenna as described herein. The term “virtual antenna” will be understood withinthe context of the present disclosure as comprising a corresponding position information and optionally orientation information. In some examples, a virtual antenna may comprise any suitable parameter, setting, or characteristic suitable for controlling the manner of performing a wireless scan by an antenna, for example a scanning or detection field thereof, such as a radiation pattern. In some examples, a request for a wireless scan to be performed by a virtual antenna causes a mobile antenna (such as an autonomous robot) to navigate to the corresponding position and optionally orientation (referred to herein jointly as a virtual antenna “pose”) of the virtual antenna, and actuate the antenna to read one or more wireless tags by way of a wireless scan. In some examples, the wireless scan may be performed for a predefined duration. In some examples, the wireless scan may be performed until a wireless scan is deemed complete, such as if a predefined number of wireless tags are detected, identified, read, or localized. In some examples, the wireless scan may be performed until a wireless scan request associated with a different virtual antenna is received and requires the robot to move thereto.

[0192] In addition to enabling a theoretically infinitely scalable number of virtual antennas, the use of a mobile antenna to perform a wireless scan may permit customizing or flexibility in a detection field generated during a wireless scan. For example, a wireless scan may be performed by multiple mobile antennas, each positioned at a corresponding different virtual antenna pose, to define any suitable size, shape, orientation or strength of a detection field or radiation pattern for a wireless scan. It will be appreciated that the different virtual antenna poses for forming the detection field or radiation pattern may in some contexts be considered to characterize a single virtual antenna. It will therefore be appreciated that a single virtual antenna may be achieved using more than one mobile antenna, and more than one corresponding virtual antenna pose thereof. Wireless scan data obtained during the wireless scan of each of the mobile antennas may be merged by any suitable method. For example, using a union set operator, large detection fields or radiation patterns may be achieved, and using an intersection operation, narrower detection fields or radiation patterns may be achieved. Performing wireless scans from multiple positions can in some examples generate detection fields or radiation patterns which approximate or mimic RFID tunnels. For example, only wireless tags located inside the tunnel may be read, while any tag outside the tunnel may not be detected. The merging of wireless scan data may comprise any suitable filtering, such as thresholding the received power.

[0193] In some examples, traditional localization techniques may remain applicable and suitable for use with virtual antennas in accordance with the present disclosure. Suchlocalization techniques may for example include determining which antenna may be configured to detect a wireless tag, and using, for example, signal-strength-based techniques for determining the location of the wireless tag. The use of virtual antennas in in this manner may require reduced infrastructure. The use of virtual antennas may additionally, or alternatively, permit a seamless combination of one or more stationary antennas, for example for higher-throughput regions, with virtual antennas, for example for lower-throughput areas, based on existing software stacks originally intended for stationary antennas.

[0194] In some examples, virtual antennas used in accordance with the present disclosure may allow the use of industry-standard software interfaces for, for example, RFID readers. GS1 Low Level Reader Protocol, for example, may provide a standard communication interface through which an antenna may be chosen. The same protocol may be used for one or more virtual antennas in accordance with the present disclosure, wherein the requesting of a read of a wireless tag may cause a mobile antenna to translocate to the selected virtual antenna and achieved the associated virtual antenna poses thereof.

[0195] Instructions executed at a mobile antenna may, in some examples, comprise any suitable stopping criterion configured for determining when a wireless scan or read is completed for a given virtual antenna pose. Such a stopping criterion may, for example, be based on a predetermined scan time duration or any other suitable parameter as will be appreciated in light of the present disclosure.

[0196] In some examples, wireless scan data obtained during a wireless scan may be monitored, either by the mobile antenna (such as an autonomous robot 130 described herein) or remotely thereto such as by a robot management system or a warehouse management system. The monitoring may, for example, be used to determine whether all wireless tags associated with a wireless scan or read request have been detected, identified, read or localized (e.g., by checking whether any new wireless tag identifiers are responding, or by using session control logic to have every wireless tag only respond once).

[0197] A warehouse management system may, for example store inventory information associated with wireless tags within a warehouse, the warehouse management system configured to monitor and update the inventory information based on wireless scan data obtained by, or received from, a mobile antenna. The inventory information may be generated or updated, at least in part, in response to receiving the wireless scan data from, or by way of, the mobile antenna, following the performing of a wireless scan by the mobile antenna. In some examples, inventory information for one or more wireless tags may be generated or updated in any suitable manner, and may in some examples comprise the setting of a firstwireless scanning parameter, such as a Q value, to a first probing value. The first probing value may be determined in accordance with any suitable protocol, and may in some examples be determined randomly. In some examples wherein a quantity of wireless tags to be detected, identified, read or localized is known, the first probing value may be determined based on the quantity. In some examples, following a first wireless scan performed using the first wireless scanning parameter set to the first probing value, wireless scan data obtained during the first wireless scan may be used to determine a second updated value of the first wireless scanning parameter, which may in some examples be a second probing value. For example, if the wireless scan data of the first wireless scan indicates response signals from too many wireless tags, or too few wireless tags, the wireless scanning parameter may be updated to the second updated value, for example the second probing value, accordingly. If a second wireless scan is performed using the second probing value of the first wireless scanning parameter, and again the wireless scan data of the second wireless scan indicates response signals from too many wireless tags, or too few wireless tags, the wireless scanning parameter may be further updated accordingly. As such an iterative updating of the wireless scanning parameter may be used for performing a wireless scan of a location, inventory item or article of which stored inventory information does not exist at the warehouse management system, or wherein the stored inventory information is required to be updated.

[0198] The mobile antenna may, in some examples, be configured to perform a “fly-by” of a given virtual antenna pose without stopping, wherein a wireless scan is performed at the virtual antenna pose while the mobile antenna is moving. In some examples, the mobile antenna may move to and remain at a virtual antenna pose, for example of the most recently requested virtual antenna, until instructions are received to proceed to a next virtual antenna pose of a next antenna, such as in response to a corresponding wireless scan request or read request. In some examples wherein the mobile antenna comprising an autonomous flying robot, and wherein the mobile antenna remains at a current virtual antenna pose, whether during the performance of a wireless scan or while awaiting further instructions, the virtual antenna pose may be located on or proximate a landing region. In such examples, the landing region may comprise a power supply and battery charging capability, which may be any suitable battery charging capability, and may in some examples comprise wireless power transfer.

[0199] In some examples, a virtual antenna pose may be located at a location wherein continued or stable wireless connectivity between the mobile antenna and a corresponding base station is not available (e.g., no WiFi coverage). In some such examples, the mobileantenna may be configured to store wireless scan data obtained during wireless scans performed thereby, in any suitable memory. In some examples, the mobile antenna may be configured to transmit the stored wireless scan data using any suitable method, such as at a later time, and for example when continued or stable connectivity with the base station is available, or when a threshold battery level is indicated, or when the mobile antenna is charging a battery thereof.

[0200] FIG. 4A and FIG. 4B each show a plan view of an example implementation of a robot 130 performing an inventory task (e.g., tag localization) in accordance with the present systems and methods. In each of FIG. 4A and FIG. 4B, the robot 130 is an autonomous aerial robot 130 configured to receive an inventory task from a robot management system (not shown), and based on the inventory task, sequentially move to a plurality of virtual antenna positions 402, 403 within a warehouse. The warehouse comprises a plurality of inventory items or articles, each comprising a corresponding RFID tag 404. The robot 130 is configured to, based on a detection that the robot is at one of the plurality of virtual antenna positions 402, 403, use the RFID antenna 220 to perform a wireless scan of RFID tag data at the corresponding virtual antenna position 402, 403 and store the RFID tag data in the memory 216. Each of the virtual antenna positions 402, 403 comprises an antenna position and in the example illustrated an antenna orientation suitable for localization of the RFID antenna 220 of the robot 130, for example using the robot actuators 202. The antenna position comprises any suitable spatial position metric suitable for access by the robot 130, and in some implementations comprises an xy coordinate and optionally a z coordinate. The antenna orientation comprises any suitable spatial orientation metric such as an angular rotation suitable to define the orientation of the RFID antenna 220 of the robot 130. In some implementations, the virtual antenna position further comprises a wireless scanning range 406 (e.g., a detection field boundary), for example a pattern or a shape defining the wireless scanning range within which RFID tag data may be read for any suitable associated scanning power of the RFID antenna 220. In some implementations, such as that of the illustrative example 400 of FIG. 4A, a first plurality of virtual antenna positions 402 define a first target wireless scanning range according to the inventory task received. The processing circuitry 214 is configured to access the stored RFID tag data scanned by the RFID antenna 220 at each of the first virtual antenna positions 402, and the processing circuitry 214 is further configured perform one or more predefined intersection operations thereon. In some examples, each intersection operation may specify a target scanning region 408, for example a location in which a target RFID tag 404 is expected to be located. The illustrative example410 of FIG. 4B is a continuation of the example 400 of FIG. 4A, but wherein the robot 130 performs a wireless scan at each of a second plurality of virtual antenna positions 403, the processing circuitry 214 of the robot 130 configured to access the associated stored RFID tag data scanned by the RFID antenna 220 at each of the first virtual antenna positions 402 and each of the second virtual antenna positions 403, and the processing circuitry 214 is further configured to use the intersection to more precisely confirm the location of the identified tag 404 or to localize the identified tag 404 in a smaller target scanning region 412. In some implementations, the wireless scans performed by the robot 130 at the second plurality of virtual antenna positions 403 may be informed by the RFID tag data obtained from the first plurality of virtual antenna positions 402, for example the intersection operation performed thereon. For example, the intersection operation may comprise an assignment of a probability to the RFID tag data from the data read by the RFID antenna at the first plurality of virtual antenna positions 402, wherein when the probability is lower than a threshold probability, the inventory task causes the robot 130 to perform the wireless scans at the second plurality of virtual antenna positions 403. In some implementations, the target scanning region may be any suitable scanning region and may be the result of any suitable processing of the RFID tag data obtained by the RFID antenna, and may include an intersection operation, a union operation or any suitable combination thereof. Accordingly, to obtain a more accurate localization of a tag and higher confidence in the determined location, multiple scans can be performed at different locations to more precisely narrow down the region in which the tag is located.

[0201] FIG. 5 depicts a plan view of an example implementation of the present systems and methods in which a robot 130 is configured to move to a first virtual antenna position 502 at which the robot 130 is configured to use the robot actuators (e.g., 202) to position the RFID antenna 220 thereof to a first position and orientation associated with the first virtual antenna position 502. The robot 130 is configured to perform a first wireless scan of RFID tag data using the RFID antenna 220 at the first virtual antenna position 502. The robot 130 is further configured to use the robot actuators (e.g., 202) thereof to move the RFID antenna from the first virtual antenna position 502 to a second virtual antenna position 504, the second virtual antenna position 504 having a second position and orientation, different to the first position and orientation. The robot 130 is configured to perform a second wireless scan of RFID tag data at the second virtual antenna position 504 using the RFID antenna 220 at the second virtual antenna position 502. The RFID tag data obtained during the first and second wireless scans may be used individually or collectively to define a target scanning region. It will beappreciated that any combination virtual scanning positions, including a corresponding position and a corresponding orientation, may be used to define any suitable target scanning region. It will also be appreciated that the position and orientation of robot 130 can be independently controlled. For example, robot 130 may be first moved to the position of virtual antenna 502 and then rotated to the orientation of virtual antenna 502 before performing the first wireless scan.

[0202] In some implementations, continuous scanning of inventory items or articles may be desired within a target scanning region over an extended time duration, for example to monitor the movement of inventory items or articles within or through the target scanning region during the time duration. FIG. 6 shows an example implementation of the system and methods of the present disclosure, in which a plurality of mobile antennas may be used to provide an RFID scanning gate for monitoring the movement of RFID tag-containing inventory items or articles into or out of a warehouse. In particular FIG. 6 depicts a front view of the interior of a warehouse wall 600 comprising two bay doors 602 spaced thereon, the bay doors 602 configured to be traversed by warehouse inventory items or articles intended to enter or leave the warehouse. The warehouse wall 600 further comprises a pair of landing areas 604 vertically spaced on each side of a bay door 602, each of the landing areas 604 configured to provide a landing surface for a robot 130 in accordance with systems and method of the present disclosure. In the illustrative example shown, a robot 130 is positioned on each landing area 604 of one of the bay doors 602, each of the robots 130 positioned at a corresponding virtual antenna position having a position and orientation at least in part defined by the surface of the associated landing area 604. The robots 130 may be configured to use the corresponding RFID antenna 220 to perform a wireless scan of RFID tag data while positioned at the corresponding virtual antenna position (on the corresponding landing area 604), virtual antenna positions thereby collectively defining a target scanning region or gate for detecting the traversal of inventory items or articles, and specifically the associated RFID tags, into or out of the warehouse through the corresponding bay door 602. The landing areas 602 may provide a reduction in energy requirement for performing the continuous scanning of the target scanning region by reducing the requirement to operate the actuators 202 of the robots 130. The landing areas 602 may additionally provide improved precision of scanning of a frequently used target scanning region by improving the accuracy and reproducibility of localizing the robots 130, and the associated RFID antennas 220, at the corresponding virtual antenna positions. It will be appreciated that any examples described herein may implement landing areas at one or more virtual antenna positions where suitable.While the examples described in relation to FIGS. 4-6 include the use of RFID scanning and RFID tags, as with any examples of the present disclosure, examples will be appreciated wherein any suitable wireless scanning technology may be implemented as discussed herein.

[0203] FIG. 7 is a flow chart of an illustrative process 700 for performing a wireless scan of a target scanning region in accordance with some embodiments of the present disclosure. In various embodiments, the individual steps of process 700 may be implemented by one or more components of the devices and systems of FIGS. 1-6. Although the present disclosure may describe certain steps of process 700 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6 may implement those steps instead.

[0204] At 702, processing circuitry (e.g., 114, 124, and / or 214) may receive antenna position information indicating a position, and antenna orientation information indicating an orientation, for performing a wireless scan. The antenna position information and the antenna orientation information may be associated with a virtual antenna. In some implementations, the processing circuitry may receive any suitable data associated with the antenna position information and the antenna orientation information. For example, the processing circuitry may receive an indication of the position information and the orientation information. For example, the processing circuitry may be configured to access the indicated position information and the orientation information from any suitable memory. In some implementations, a memory may store one or more predefined antenna positions or antenna poses, each position or pose associated with corresponding position information and orientation information. The position may be any suitable type of position, for example a three-dimensional position. Additionally, the orientation may be any suitable orientation, for example defined by at least one rotation angle. FIG. 7 shows an exemplary mode of receiving, by the processing circuitry, the antenna position information and the antenna orientation information, the received position and orientation information comprising a Pose ID corresponding to a corresponding one of a plurality of predefined poses for accessing by the processing circuitry from a memory (not shown). Each pose of the plurality of poses in the example shown comprises antenna position information comprising a three-dimensional position, defined by a three-dimensional coordinate value (e.g., Xi, Yi, Zi). Each pose of the plurality of poses in the example shown further comprises antenna orientation information comprising a rotation angle defined in three dimensions (e.g., 0i, (pi, \| / i).

[0205] At 704, at least one actuator (e.g., 202) may be used to move a mobile antenna (e.g., 220) to the position and orientation based on the received antenna position information and antenna orientation information. The actuator may be any suitable actuator configured for moving the mobile antenna to the position and orientation, and in some examples wherein the mobile antenna is an antenna of a mobile robot, the actuator may be any suitable actuator for moving the mobile robot. In some examples, wherein the mobile antenna is an antenna (e.g., 220) of an autonomous aerial robot (e.g., 130), the actuator may be used to rotate respective propellers that allow the robot to fly and control its movement through space, such as movement of the robot to position the antenna at the position and orientation. Examples will be appreciated wherein any suitable mobile antenna is implemented, configured to move to the position and orientation in any suitable manner.

[0206] At 706, the mobile antenna (e.g., 220) may be configured perform the wireless scan. The wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B. In some implementations, the performing of the wireless scan may comprise storing, or transmitting for storage, of wireless scan data obtained from a second wireless scan. The performing of the wireless scan may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scan, the processing circuitry may access the wireless scan data for processing.

[0207] It will be understood that various modifications may be made to process 700 in accordance with the present disclosure.

[0208] In some examples, the position at 702 may comprise a landing area, optionally wherein the wireless scan at 706 may be performed while the mobile antenna is at rest on the landing area. In some embodiments, the position at 702 may comprise a three-dimensional position. In some embodiments, the orientation at 702 may comprise a rotational orientation of the mobile antenna.

[0209] In some examples, performing the wireless scan at 706 may comprise transmitting a radio frequency identification (RFID) interrogation signal and receiving a response signal from an RFID tag. In some embodiments, the RFID tag may comprise a passive RFID tag; optionally wherein the response signal may comprise a reflected signal from the passive RFID tag. Embodiments will be appreciated wherein the wireless scan is performed by any suitable wireless scanning technology, such as described in relation to FIG. 3B. In someembodiments, performing the wireless scan at 706 may comprise receiving a Bluetooth signal from an object.

[0210] In some examples, a plurality of poses may be stored (e.g., on the mobile antenna), wherein: each pose has a corresponding identifier; a first pose of the plurality of poses comprises the position and the orientation; optionally wherein receiving the antenna position information and the antenna orientation information at 702 may comprise receiving the identifier corresponding to the first pose.

[0211] In some examples, at 702 the antenna position information may indicate a first position and a second position; and the antenna orientation information may indicate a first orientation and a second orientation. In some embodiments, performing the wireless scan at 706 may comprise: performing a first wireless scan when the mobile antenna is in the first position and the first orientation; and performing a second wireless scan when the mobile antenna is in the second position and the second orientation. In some embodiments, a union or intersection operation may be performed on results of the first wireless scan and the second wireless scan. The union or intersection operation may, for example, be used to define a detection field or zone of the antenna.

[0212] In some examples, a first storage location may be received and a plurality of first positions may be determined for a plurality of mobile robots to perform scanning based on a first inventory task. First instruction information may be transmitted to the plurality of mobile robots, for example for receipt at 702, wherein each of the plurality of mobile robots is configured to: move to a respective first position, for example at 704, based on the first instruction information; and perform first wireless scanning while at the first position, for example at 706. A second inventory task may be received, and a plurality of second positions for the plurality of mobile robots may be determined for performing scanning based on the second inventory task. Second instruction information may be transmitted to the plurality of mobile robots, for example at 702, wherein each of the plurality of mobile robots is configured to: move to a respective second position, for example at 704, based on the second instruction information; and perform second wireless scanning while at the second position, for example at 706.

[0213] In some embodiments therefore, a request may be received for scanning an inventory item, for example at or prior to 702. In some embodiments, a corresponding mobile antenna may be selected, for example at or as part of 702, based on one or more properties of the mobile antenna, for example a battery level thereof, or a current location of the mobile antenna.

[0214] In some examples, one or more mobile antennas may be used to provide a wireless scanning gate, for example at 706. For example, a request may be received to form a wireless scanning gate, (for example an RFID gate). A plurality of mobile antennas may be instructed to move to corresponding positions and orientations (i.e., poses) to form the wireless scanning gate. Optionally, wireless scanning gate processing may be performed (e.g., union and / or intersection operations) to identify one or more wireless tags moving through the wireless scanning gate.

[0215] In some embodiments, the results of the wireless scan at 706 (e.g., a set of identified tags and optionally related information such as Doppler information and received signal strength indicator, which are discussed in further detail below) are transmitted to robot management system 120 and / or warehouse management system 110. The results may be transmitted wirelessly (e.g., while the mobile antenna is moving through a warehouse) or via a wired connection (e.g., when the mobile antenna is docked at a charger).

[0216] FIG. 8 shows an illustrative plan view of a warehouse environment 800 and a plurality of inventory tasks implemented in accordance with some embodiments of the present disclosure. It will be understood that FIG. 8 shows a simplified partial view of a warehouse containing a plurality of storage racks 802A, 802B, 802C, 802D, 802E. The space between two adjacent storage racks of the plurality of storage racks 802A-802E may be referred to as an aisle. In some embodiments, warehouse 800, comprising a plurality of autonomous aerial robots 130, is managed by warehouse management system 110 and robot management system 120.

[0217] In some embodiments, the plurality of robots 130 may be positioned within the warehouse 800 at one of a plurality of landing zones 804A, 804B. The landing zones 804A, 804B may comprise docking stations (not shown) configured to receive the robots 130, and may comprise charging functionality configured to charge a robot 130 when engaged with a corresponding docking station 804 A, 804B. Robots 130 may receive an inventory task, for example from a warehouse management system 110 by way of a robot management system 120, the inventory task comprising one or more scan requests. Each scan request may, for example, comprise data characterizing one or more antenna poses, each antenna pose comprising a corresponding antenna position information. The antenna position information may correspond to any suitable position within the warehouse 800. Following receipt of a scan request, the robots 130 may be configured to move to the one or more antenna poses within the warehouse 800.

[0218] In the illustrative example of FIG. 8, a first scan request 812 may be received by a first and second robot 808, 810 of the plurality of robots 130, the first scan request 812 comprising antenna position information associated with antenna poses for forming a scanning region or gate at a doorway 814 of the warehouse 800. In some examples, the scan request 812 comprising the antenna position information and antenna orientation information associated with forming the scanning region or gate may be received from the warehouse management system 110 by the robot management system 120. The robot management system 120 may determine, from the plurality of robots 130, the first and second robots 808, 810 suitable for performing the scan request 812. Any suitable determination may be performed, for example based on proximity of the first and second robots 808, 810 to the antenna positions of the scan request 812, and a battery or charge level of the first and second robots 808, 810. The robot management system 120, for example following said determination, may transmit antenna position information and antenna orientation information to the first and second robots 808, 810, and based on the received antenna position information and antenna orientation information, the first and second robots 808, 810 may move to the corresponding antenna pose (having an associated position), which may include landing at an associated landing area (not shown). In some examples, a scanning antenna or reader of each of the robots 808, 810 may comprise a predetermined scanning range or pattern, and wherein the antenna position information and the antenna orientation information are configured to form a target scanning region based on the predetermined scanning range or pattern. In some examples, a scanning antenna or reader of each of the robots 808, 810 may comprise a dynamic and adjustable scanning range or pattern. In some such examples, the scan request may further comprise a scanning range or scanning pattern information, which may be used by the antenna or reader of the robot 808, 810 to achieve the scanning region of the scan request. In the illustrative example shown, when the first and second robots 808, 810 are at their respective antenna poses of the first scan request 812, the scanning antenna or reader of each of the robots 808, 810 may be configured to scan using the corresponding scanning range or pattern (which may be predetermined or controlled based on the first scan request 812), in order to form a scanning gate at the doorway 814 of the warehouse 800. Such a scanning gate may be used for monitoring the movement of inventory items or articles into or out of the warehouse 800 through the doorway 814. The scanning region formed by the first and second robots 808, 810 may therefore be optimized to scan the whole of the doorway 814 such that an inventory item or article moving through thedoorway 814 may be detected within the scanning region irrespective of the horizontal or vertical positioning of the inventory item or article.

[0219] In the illustrative example shown, a second scan request 816 may be received from the warehouse management system 110 at the robot management system 120. The second scan request 816 in the example shown includes a scan of inventory items or articles located along the length of one side of the middle storage rack 802C. The second scan request 816 comprises antenna position information and antenna orientation information corresponding to a plurality of antenna poses 818 having antenna positions along the length of the aisle between the second and third storage racks 802B, 802C, each antenna pose optionally having a corresponding antenna orientation which, when achieved by a robot 130, causes the antenna or reader of the robot 130 scan a target region of the third storage rack 808C. In some examples, the robot management system 120 may determine, based on the second scan request 816, that the first robot 808 will perform the second scan request 816. Such a determination may, for example, be based on a proximity of the first robot 808 to a first of the required antenna poses 818 associated with the second scan request 816, or based on a battery or charge level of the first robot 808. The robot management system 120, for example following said determination, may transmit antenna position information and antenna orientation information to the first robot 808 corresponding to the plurality of antenna poses 818, corresponding to the second scan request 816. Based on the received antenna poses 818, the first robot 808 may move to each of the corresponding antenna poses 818 (having corresponding position) in sequence, and when positioned at each pose 818, the first robot 808 may be configured to perform a scan. Following the scan performed at the final pose 818 of the plurality of antenna poses 818, the first robot 808 may be configured to return to landing zone 802A as shown.

[0220] In the illustrative example shown, a third scan request 820 may be received from the warehouse management system 110 at the robot management system 120. The third scan request 820 in the example shown includes a scan of inventory items or articles located along the length of one side of the fourth storage rack 802D. The third scan request 820 comprises antenna position information and optionally antenna orientation information corresponding to a plurality of antenna poses 822 having antenna positions along the length of the aisle between the fourth and fifth storage racks 802D, 802E, each antenna pose optionally having a corresponding antenna orientation which, when achieved by a robot 130, causes the antenna or reader of the robot 130 scan a target region of the fourth storage rack 808D. In some examples, the robot management system 120 may determine, based on the third scan request820, that the second robot 810 will perform the third scan request 820. Such a determination may, for example, be based on a proximity of the second robot 810 to a first of the required antenna poses 822 associated with the third scan request 820, or based on a battery or charge level of the second robot 810. The robot management system 120, for example following said determination, may transmit antenna position information and antenna orientation information to the second robot 810 corresponding to the plurality of antenna poses 822, corresponding to the third scan request 820. Based on the received antenna poses 822, the second robot 810 may move to each of the corresponding antenna poses 822 (having a corresponding position) in sequence, and when positioned at each pose 822, the second robot 810 may be configured to perform a scan. Following the scan performed at the final pose 822 of the plurality of antenna poses 822, the second robot 810 may be configured to return to landing zone 802B as shown.

[0221] Based on the illustrative example of FIG. 8, it will be appreciated that the robots 130 may be used for continuous monitoring of a single region of the warehouse 800, for example by forming the scanning gate of the first scan request 812, or for scanning of multiple warehouse regions in sequence such as that shown for the second and third scan requests 816, 820. In the case of continuous monitoring of a single region of the warehouse 800, it will be appreciated that the associated scan request may comprise a target scanning period over which the associated robot(s) may be instructed to perform one or more scans of the region. In some examples, the first robot 808 may be instructed to perform the first scan request 812 and the second scan request 816 in sequence prior to returning to the landing zone 802 A, such that only a single instruction is received by the first robot 808. In such examples the second robot 810 may also receive a single instruction to perform the first scan request 812 and the third scan request 820 in sequence prior to returning to the landing zone 802B. In some examples, the movement of the first robot 808 to perform the second scan request 816 may cause a replacement robot 130 from the first landing zone 802 A to move to the antenna pose of the first scan request 812 such that the scanning gate of the first scan request 812 is maintained. In some examples, the movement of the second robot 810 to perform the third scan request 820 may cause a replacement robot 130 from the second landing zone 802B to move to the antenna pose of the first scan request 812 such that the scanning gate of the first scan request 812 is maintained.

[0222] In some examples, data obtained from each scan may be stored locally at the corresponding robot 130, 808, 810 or may be transmitted to a remote storage location. In some such examples, the scan data may be stored locally during the performance of a scanrequest, and may only be transmitted to a remote storage location once the robot 130, 808, 810 completes the scan request or reaches a landing zone 802 A, 802B.

[0223] In some examples, localization of one or more wireless tags may be performed by merging wireless scan data, for example wireless response signals associated with a wireless tag, obtained from one or more wireless scans performed by a mobile antenna while the mobile antenna is moving, each wireless scan data including a corresponding indication of a particular wireless tag. Each wireless scan data may, for example, be received or obtained when the mobile antenna is at a different virtual antenna pose (having associated position data as described herein) of a plurality of virtual antenna poses along a movement path.

[0224] In some examples, Doppler shift of the received wireless scan data, such as a wireless tag response signal, may be used to determine a relative speed between the mobile antenna performing the wireless scan, and the wireless tag (or the inventory item or article associated therewith). In some examples, a use of the Doppler shift may assume a stationary wireless tag, and may be used to indicate the speed at which the mobile antenna is moving toward or away from the wireless tag. In some examples, any suitable parameter associated with the movement of the mobile antenna may be determined be selected, for example the movement path or trajectory, speed, velocity or acceleration. In some examples, by identifying a sign change in the Doppler data, and for example using a known location of the mobile antenna, a location may be determined at which the mobile antenna is, or was, closest to the wireless tag. At the determined location, the wireless tag may be determined to be at a location which is normal to the movement path or trajectory of the mobile antenna. In some examples, a difference in Doppler shift between combined wireless scan data, along with a known velocity of the mobile antenna, may act to constrain the possible location of the wireless tag. More than one movement path or trajectory of the mobile antenna may be used in some examples to further constrain the possible locations of the wireless tag.

[0225] In some examples, the mobile antenna may be configured to apply a filter to the wireless scan data such that only a predetermined number of wireless tags is detected or responds during the wireless scan. Such examples may be used in locations having a high density of wireless tags. In such high-density environments, the number of tag responses required to perform an identification of a Doppler shift sign change may be difficult to obtain, and as such a filter applied to the wireless scan data may provide greater flexibility in applications depending on environment tag density. In some examples, use of Doppler shift in the performance of a wireless tag localization may be performed instead of, or in addition to, other localization methods described herein, such as based on an identified signal strengthof a response signal obtained at an expected wireless tag location. In some examples, the use of Doppler shift for wireless tag localization may be triggered in response to an unexpected result using other localization methods discussed herein (such as indicating a missing or moved wireless tag).

[0226] In some examples, a known speed or velocity of the mobile antenna (which may for example be determined using, or based on, a localization sensor or unit thereof), and a known wireless scan parameter (such as a radio frequency with which a wireless tag was scanned or queried), two Doppler shift measurements may be used to constrain the possible locations of a wireless tag in two-dimensional (2D) space, such that the tag may be localized. Other wireless scanning approaches such as those discussed herein, such as signal strength approaches, may be used to disambiguate the precise location of the wireless tag from the constrained possible locations. Three such measurement may be used to constrain the possible locations of a wireless tag in three-dimensional (3D) space.

[0227] In some examples, one or more movement parameters or motion information of the mobile antenna (for example provided by way of a localization sensor or unit thereof, which may be of an autonomously moving antenna or a handheld antenna) to better manage the available airtime of wireless scan data. Localization of a wireless tag may in some examples require detecting or receiving a response signal from a wireless tag multiple times, and in high-tag-density environments (such as warehouses) traditional random access schemes may return a limited number of responses per wireless tag for performing a localization. In wireless scanning technologies which support wireless tag addressing (such as RFID), wireless tag addressing may be used to maintain a list of wireless tags which may be either listed for addressing by a mobile antenna during a wireless scan; or prevented from being addressed by a mobile antenna during a wireless scan. A wireless tag blacklist may be maintained, for example at a warehouse management system, comprising a list of wireless tags (for example any suitable tag identifier) which should not respond during a wireless scan. Any suitable reason for blacklisting a wireless tag will be appreciated in the context of the present disclosure, for example because inventory information associated with the wireless tag, such as at the corresponding location and / or performed at a current virtual antenna pose of a mobile antenna, is determined to be recent, accurate or up-to-date. A wireless tag whitelist may be maintained, for example at a warehouse management system, comprising a list of wireless tags (for example any suitable tag identifier) which should respond during a wireless scan. Any suitable reason for whitelisting a wireless tag will be appreciated in the context of the present disclosure, for example because inventoryinformation associated with the wireless tag, such as at the corresponding location and / or performed at a current virtual antenna pose of a mobile antenna, is determined to be old or inaccurate, or wherein a further wireless scan thereof is required, for example for performing a further measurement of Doppler information.

[0228] In some examples, the wireless tags may be individually addressable during the performance of a wireless scan, or may be addressed based on a predetermined filter or mask. For example, a wireless scan may comprise a filter or mask configured to cause wireless tags having a wireless tag identifier or characteristic within a specific type or range (e.g., all wireless tags with a tag identifier beginning with “1” should respond).

[0229] FIG. 9A shows an illustrative sequence of scans 902, 904, 906 of a single stationary inventory item or article 900 performed by a robot 130. In the example shown, the robot 130 is an autonomous flying robot 130, and the inventory item or article 900 is any suitable item or article comprising a tag configured to be detected by a wireless scan performed by the robot 130 (for example an RFID tag). The scans 902, 904, 906 are performed while the robot 130 is moving along a path 908 relative to the stationary inventory item or article 900 at a known velocity. In particular, a first wireless scan 902 is performed by an antenna 910 (e.g., of an RFID reader) of the robot 130 when the robot 130 is at a first location 912 along the path 908. In some examples, the robot 130 may move to assume a first antenna pose at the first location 912, the first antenna pose comprising a position to be achieved by the robot 130 for performing the first wireless scan 902. As the robot 130 continues to move along the path 908, a second wireless scan 904 is performed by the antenna 910 of the robot 130 when the robot 130 is at a second location 914 along the path 908. In some examples, the robot 130 may move to assume a second antenna pose at the second location 914, the second antenna pose comprising a position to be achieved by the robot 130 for performing the second wireless scan 904 using the antenna 910. As the robot 130 continues to move further along the path 908, a third wireless scan 906 is performed by the antenna 910 of the robot 130 when the robot 130 is at a third location 916 along the path 908. In some examples, the robot 130 may move to assume a third antenna pose at the third location 916, the third antenna pose comprising a position to be achieved by the robot 130 for performing the third wireless scan 906 using the antenna 910. When performing the first, second and third wireless scans 902, 904, 906, the robot 130 in the illustrative example shown, is configured to use the Doppler shift of the received scan data (which in the example of FIG. 9A is RFID scan data) to determine the relative speed between the antenna 910 (and robot 130) and the stationary inventory item or article 900. When scanning a stationary inventory item or article 900 asshown, the determined speed is that at which the antenna 910 is moving towards or away from the inventory item or article 900. The path 908 may in some examples be selected to generate an intended Doppler shift using the wireless scans performed by the antenna 910.

[0230] A chart 920 of Doppler frequencies obtained during the wireless scans 902, 904, 906 is shown in FIG. 9B. By identifying a sign change in the Doppler frequency (when the Doppler frequency passes zero), the corresponding position of the robot 130 may be used to identify (or estimate) a location along the path at which the robot 130 is closest to the inventory item or article 900. At this closest location, it may be determined that the inventory item or article 900 is positioned at a location normal to the path 908 of the robot 130.

[0231] The difference in Doppler frequency between the wireless scans 902, 904, 906, when considered in combination with the known velocity of the robot 130 (and thus the antenna 910 thereon) acts to constrain the position of the inventory item or article 900. This can be seen illustrated in more detail in the plan view of FIG. 10A, which shows the robot 130 moving along the path 908 at a known velocity Vx and performing the first and third wireless scans 902, 906 at corresponding positions along the path 908. A detection field of the first and third wireless scans 902, 906 can be seen to intersect at two opposing locations on a plane. As can be seen in FIG. 10A, Doppler shift data obtained from these two scans 902, 906 may be sufficient to constrain the location of the inventory item or article 900 (for example the RFID tag thereof) in two-dimensional (2D) space using 2D line intersection localization.

[0232] FIG. 10B shows the view of FIG. 10 A, wherein following the performance of the third wireless scan 906, the robot 130 moves along a second path 1002 at a known velocity Vy, the second path 1002 having a vertical component (the reduced size of the robot 130 depicting a reduction in vertical height of the robot 130). The robot 130 performs a further wireless scan at a position along the second path 1002 the further wireless scan having a detection field coincident with the detection field of the first and third wireless scans such that the wireless scan data obtained from the further wireless scan may be used to perform a three-dimensional (3D) cone intersection localization of the inventory item or article 900. Use of Doppler shift determined from multiple trajectories of the robot 130 in this manner may act to further constrain the location of the inventory item or article 900, and may thereby improve localization accuracy. Other wireless scanning approaches such as those discussed herein, such as signal strength approaches or image capture approaches, may be used to disambiguate the precise location of the wireless tag from the constrained possible locations.

[0233] FIG. 11 shows an illustrative example schematic view of a robot management system 1100 (e.g., robot management system 120) configured for receiving scan requests, for example from a warehouse management system (e.g., warehouse management system 110), and further configured to send instructions to one or more robots (e.g., robots 130) for performing the scan requests. In the illustrative example shown, the robot management system 1100 is configured to access robot data 1102 associated with each robot in a plurality of robots. The robot management system 1100 may in some examples comprise the robot data stored thereon, or in some examples the robot management system 1100 may access the robot data remotely, for example following interrogation of each robot individually or by way of any suitable remote memory. The robot data 1102 may comprise any suitable data characterizing the robots, and may for example comprise a robot identifier; a robot type; a robot battery or charge; a robot location, position, or orientation; a robot scanner type; a robot camera type; or a robot status. The robot management system 1100 may in some examples use the robot data to issue robot instructions to selected one or more robots in accordance with a received scan request. In some examples, the robot management system may comprise a scheduling module 1104 configured to schedule the issuance of the robot instructions. In some examples, the scheduling may be based on the robot data, for example the robot management system 1100 or the scheduling module 1104 thereof may determine, based on the robot data, that a first robot is currently charging and comprises a battery charge level below a predetermined threshold required for performing a scan request. The robot management system 1100 or the scheduling module 1104 thereof may, based on the determination, schedule the transmission of robot instructions associated with a scan request, to be issued to the first robot when the battery charge level of the first robot reaches a threshold level required for performing the scan request. In some examples, the robot management system 1100 or the scheduling module 1104 thereof may determine, based on the robot data, that a second robot is currently scanning and comprises a battery charge level above a predetermined threshold required for performing a scan request. The robot management system 1100 or the scheduling module 1104 thereof may, based on the determination, schedule the transmission of robot instructions associated with a scan request, to be issued to the second robot when the robot finishes the current scanning.

[0234] FIG. 12 is a flow chart of an illustrative process 1200 for localization of an inventory item or article in accordance with some embodiments of the present disclosure, for example as described in relation to FIGS. 9A-10B. In various embodiments, the individual steps of process 1200 may be implemented by one or more components of the devices andsystems of FIGS. 1-6, 8, or 9A-10B. Although the present disclosure may describe certain steps of process 1200 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, or 9A-10B, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, or 9A-10B may implement those steps instead.

[0235] At 1202, a mobile antenna (e.g., robot 130 or antenna 220 thereof), at a first known position and at a first known speed, may be used to perform a first wireless scan of a tag, for example an RFID tag of an inventory item or article. The first known position may be associated with a pose of a virtual antenna, and may in some examples comprise a known position of the mobile antenna. In some implementations, the performing of the first wireless scan may comprise storing, or transmitting for storage, of wireless scan data obtained from the first wireless scan. The performing of the first wireless scan may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the first wireless scan, the processing circuitry may access the wireless scan data for processing. The mobile antenna may be, or may be part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The first wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0236] At 1204, first Doppler information may be determined based on the first wireless scan. In some examples, the processing circuitry may access the wireless scan data for determining the first Doppler information. The first Doppler information may be determined in any suitable manner, for example as described in relation to FIG. 9A-10B.

[0237] At 1206, the mobile antenna, at a second known position and at a second known speed, may be used to perform a second wireless scan of the tag. The second known position may be associated with a pose of a virtual antenna, and may in some examples comprise a known position of the mobile antenna. In some implementations, the performing of the second wireless scan may comprise storing, or transmitting for storage, of wireless scan data obtained from the second wireless scan. The performing of the second wireless scan may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the second wireless scan, the processing circuitry may access the wireless scan data for processing. The second wireless scan may beperformed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0238] At 1208, second Doppler information may be determined based on the second wireless scan. In some examples, the processing circuitry may access the wireless scan data for determining the second Doppler information. The second Doppler information may be determined in any suitable manner, for example as described in relation to FIG. 9A-10B.

[0239] At 1210, a position of the tag may be determined, based on the first and second known positions, the first and second known speeds; and the first and second Doppler information. Examples will be appreciated comprising any suitable manner of determining the position of the tag using the first and second known positions, the first and second known speeds; and the first and second Doppler information.

[0240] It will be understood that various modifications may be made to process 1200 in accordance with the present disclosure. For example, the steps of the process 1200 may be performed in any suitable order.

[0241] In some examples, a current position of the mobile antenna may be determined, using a localization unit of the mobile antenna. The current position may, in some examples, be determined at any stage during the process 1200, and may, for example, be determined during the performing of the first and second wireless scan at 1202, 1206, or may in some examples be determined during the receipt of or determination of the first and second Doppler information at 1204 and 1208.

[0242] In some examples, the mobile antenna may be moved along a trajectory based on the current position and using at least one actuator, wherein the first and second wireless scans are performed along the trajectory. It will be appreciated therefore, that in some examples the movement may be performed between the performance of the first and second wireless scans at 1202, 1206.

[0243] In some examples, at least three wireless scans of the tag may be performed using the mobile antenna at known positions and known speeds, wherein the at least three wireless scans may comprise the first and second wireless scans. For example, the process 1200 may further comprise using the mobile antenna to perform a third wireless scan of the tag, at a third known position and at a third known speed, wherein third Doppler information may be determined based on the third wireless scan. In some examples, Doppler information for each of the at least three wireless scans may be determined, wherein: determining the position of the tag comprises determining a three-dimensional position of the tag based on the Doppler information for each of the at least three wireless scans. In some examples, the knownpositions of the mobile antenna for the at least three wireless scans may not lie along a straight line. For example, the known positions may be achieved by moving the mobile antenna along a first trajectory (e.g., a first line) along which the first and second wireless scans may be performed, and following the performance of the second wireless scan, the mobile antenna may be moved to the third known position along a second trajectory (e.g., a second line) at an angle from or offset from the first trajectory.

[0244] In some embodiments, a plurality of wireless scans of the tag may be performed along a trajectory using the mobile antenna, wherein the plurality of wireless scans comprises the first and second wireless scans of 1202 and 1206. In some examples, a sign change of a Doppler shift may be determined based on the plurality of wireless scans, for example as described in relation to FIG. 9A-10B.

[0245] In some embodiments, a first plurality of wireless scans of the tag may be performed along a first trajectory using the mobile antenna, wherein the first plurality of wireless scans comprises the first and second wireless scans of 1202 and 1206. In some examples, a Doppler shift of each of the first plurality of wireless scans may be determined, for example as described in relation to FIG. 9A-10B. In some examples, a second plurality of wireless scans of the tag may be performed by using the mobile antenna along a second trajectory different than the first trajectory. In some examples, a Doppler shift of each of the second plurality of wireless scans may be determined, for example as described in relation to FIG. 9A-10B. In some examples, a three-dimensional position of the tag may be determined based on the Doppler shifts of the first and second pluralities of wireless scans.

[0246] In some embodiments, a received signal strength indicator (RS SI) information may be determined based on the first and second wireless scans, wherein determining the position of the tag may be further based on the RSSI information. In some such embodiments, the RSSI may be used to disambiguate the position of the tag from a plurality of possible positions. In some embodiments, process 1200 may be used to determine RSSI information instead of Doppler information at steps 1204 and 1208, and the determined RSSI information may be used to determine a position of the tag at step 1210.

[0247] In some embodiments, a location information of the tag may be received from a warehouse inventory system, wherein determining the position of the tag is further based on the location information. As such, in some examples inventory information, such as from inventory information database 116, by way of a warehouse management system 110, may be used to improve localization using the Doppler information, and may in some examples be used to disambiguate the position of the tag from a plurality of possible positions.

[0248] In some embodiments, performing the first and second wireless scans may comprise: transmitting radio frequency identification (RFID) interrogation signals comprising an addressable identifier for the tag; and response signals may be received from the tag. The wireless scans may be performed in any suitable manner as described herein, and may include any suitable wireless scanning technology, for example as discussed in relation to FIG. 3B.

[0249] In some examples, the benefits of wireless scanning for inventory tasks, such as for improving accurate localization and counting, may be used to improve, or be improved by, other modes of localization or counting, such as image capture-based methods. Image capture-based methods may for example involve reading label information such as barcode information, and may be affected by the arrangement of inventory items or articles in physical space. For example, visual occlusions may be present in the form of an obstacle or a lighting effect (e.g., glare) which may limit the full or partial visibility of information required for image capture. In such examples, wireless scanning technology may be used to enhance the interpretability of image data, for example in cases wherein an image does not show an expected inventory item or article, but wherein wireless scan data of a wireless scan performed on the location indicates the presence of the expected inventory item or article, which may be occluded in the image. In some examples, image capture-based methods of localization and counting may provide useful context which may aid precise localization in combination with the wireless scanning-based approaches. Therefore, some examples may comprise a combination of wireless scanning and image capture.

[0250] In some examples, signal data obtained during a wireless scan (for example radiofrequency transceiver data) and image data from a captured image, may be combined using any suitable method. For example, if one or more barcodes can be read from the image data, the barcodes may can be matched with wireless scan data (such as radio-frequency transceiver data) obtained during a wireless scan, for example by extracting a global trade identification number (GTIN) or stock keeping unit (SKU) from the electronic product code (EPC) of a wireless tag or tags associated with the inventory item or article being scanned, and matching it with visible barcodes of the image data. In some examples, one or more identified wireless tags from a wireless scan, performed at or close to the location the picture was taken, may be determined to comprise an associated GTIN, which may then either be further identified based on barcodes visible in a captured image, or it may be identified that the wireless tag is located in an occluded volume behind one or more obstacles (such as other inventory items or articles) occluding a view of the identified wireless tag. In some exampleswherein one or more barcodes cannot be fully or partially identified or read from image data, image processing of the image may be used to determine dimension data, which may indicate a shape or volume of inventory items or articles, such as a stack of identical inventory items or articles, which can be measured. Wireless tags identified during a wireless scan may be compared or matched with the determined volume for the purpose of localization or counting. For example, dimension data of a packing or packaging of an inventory item or article may be known, for example stored at the warehouse management system associated with a corresponding one or more wireless tags or wireless signatures described herein. Such dimension data may be used during image processing of a captured image for determining the presence of an inventory item or article.

[0251] FIG. 13 shows an illustrative example cutaway front view of a portion of a storage rack 1300 when viewed from a first side thereof. The portion of the storage rack 1300 is shown comprising an upper shelf 1302 and a lower shelf 1304, each shelf 1302, 1304 forming a surface for supporting inventory items or articles. The upper shelf 1302 supports a first pallet 1306 having loaded thereon a plurality of inventory articles 1308, 1310 taking the form of boxes housing one or more inventory objects (not shown). Each of the inventory articles 1308, 1310 comprises label information 1312 on a position of the surface thereof, the label information 1312 displaying identification information for the inventory article and / or the one or more inventory objects housed therein. The identification information may be in any form, for example a barcode, a fiducial, an image, or text, suitable for providing information identifying the inventory item or object associated therewith on visual inspection (for example by way of a camera and any suitable image processing device). In some examples, the inventory articles 1308, 1310, and / or the inventory objects housed therein, may comprise one or more wireless tags (for example an RFID tag) configured for providing identification information associated with the inventory articles or objects as a result of a wireless scan thereof.

[0252] An inventory task may comprise performing a visual inspection (such as by a mobile camera and image processing device) of the first pallet 1306 to obtain visual information of the pallet 1306, the visual information for example including, or defining, an appearance characteristic. Any suitable appearance characteristic may be obtained from the visual inspection, for example color, pattern, barcode, text, dimensions, size, volume, fiducials or indicia, and number of boxes or inventory articles. In will be appreciated that in some examples, dimensions, size, or volume may or may not be associated with, or directly proportional to a number of wireless tags, for example based on a packaging method used foran inventory article or item. In some examples, a number of wireless tags of an inventory item or article may be associated with any appearance characteristic, and may in some examples be color-coded. The visual information may in some examples be processed to detect identification information for the inventory articles 1308, 1310 from the associated label information 1312. In the particular example shown, the inventory articles 1308, 1310 on the pallet 1306 comprise two adjacent vertical stacks of smaller inventory articles 1308 and one larger inventory article 1310 positioned in front of the right-hand stack of the smaller inventory articles 1308. The positioning of the larger inventory article 1310 is such that the label information 1312 of a number of smaller inventory articles 1308 in the right-hand stack thereof are occluded. Following any visual inspection of an inventory task, it may therefore be difficult to complete the inventory task due to the occlusion of the label information 1312 of the number of smaller inventory items 1308. In some examples, the visual inspection may comprise accessing inventory information associated with the inventory articles 1308, 1310. A visual inspection may in some such examples indicate a mismatch between stored inventory information associated with the smaller inventory articles 1308 and the information obtained from the visual inspection. In some examples, image processing of any images, which may be obtained during the visual inspection, may indicate the presence of an occlusion of label information 1312. For example, image processing may identify a mismatch between a number of boxes identified and a number of label information available from the visual inspection.

[0253] In accordance with some implementations of the present disclosure, an inventory task may comprise, in addition to a visual inspection, a wireless scan of the pallet 1306. The wireless scan may be performed in any suitable manner such as that described herein, for example using a mobile antenna (e.g., a robot 130 or an RFID antenna 220 thereof). The wireless scan data obtained during the wireless scan may provide identification information associated with the inventory articles 1308, 1310 or the inventory objects therein. In some implementations, the wireless scan may comprise accessing inventory information associated with the inventory articles 1308, 1310.

[0254] In some examples, a comparison may be made between the wireless scan data, which may indicate identification information from one or more wireless tags associated with the inventory articles 1308, 1310 and the visual inspection, inventory information obtained during the visual inspection, or inventory information associated with the inventory articles 1308, 1310. In some examples such as that shown in FIG. 13, inventory articles 1308, or identification information associated therewith, may be partially or wholly visually occludedand therefore partially or wholly inaccessible to a visual inspection, for example by way of a camera. The wireless scan data may indicate the presence and / or identification of inventory articles 1308 which are occluded, for example by other inventory articles, and may thereby provide a more accurate localization of inventory items or articles during an inventory task.

[0255] As can be seen on the lower shelf 1304 of the illustrative example of FIG. 13, two adjacent vertical stacks of the smaller inventory articles 1308 are loaded onto a second pallet 1314 supported on the lower shelf 1304. In the left-hand stack of the inventory articles 1308, a number of the articles 1308 are loaded incorrectly such that the label information 1312 thereof is not visible in the front view shown. In the same manner as described for the upper shelf 1302, such occlusion of the label information 1312 may result in a detection of an inventory mismatch following a visual inspection thereof, for example upon comparison of visual data thereof with stored inventory information associated with the inventory articles 1308. Wireless scan data obtained during a wireless scan of the second pallet 1314 may indicate the presence and / or identification of the inventory articles 1308 for which the label information 1312 is occluded, and may thereby provide a more accurate localization of inventory items or articles during an inventory task.

[0256] Examples will be appreciated wherein the inventory information may be any suitable inventory information, for example obtained from a warehouse management system (e.g., 110), or obtained during the visual inspection, such as from visual data extracted from one or more images of the inventory articles. Examples will be appreciated wherein the inventory information obtained during the visual inspection may be stored local to the camera device or mobile antenna prior to the comparison.

[0257] FIG. 14 is a flow chart of an illustrative process 1400 for localization of an inventory article in accordance with some embodiments of the present disclosure, for example as described in relation to FIG. 13. In various embodiments, the individual steps of process 1400 may be implemented by one or more components of the devices and systems of FIGS. 1-6, 8, 9A-10B, or 13. Although the present disclosure may describe certain steps of process 1400 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, or 13, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, or 13 may implement those steps instead.

[0258] At 1402, an image of an inventory item or article may be captured using a mobile camera. The mobile camera may be any suitable camera, and may for example be a camera (e.g., 218) comprised on or within a mobile robot (e.g., robot 130). In some implementations,the capturing of the image may comprise storing, or transmitting for storage, of the image. The capturing of the image may be in response to instructions received at processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the capturing (and optional storage) of the image, the processing circuitry may access the image for processing.

[0259] At 1404, visual information may be extracted from the image. For example, the processing circuitry may be configured to access the image to perform any suitable visual information extraction process on the image. It will be appreciated that any suitable visual information may be extracted from the image, and in the illustrative example of FIG. 14, the visual information comprises color, pattern, barcode, text, size, volume, and number of boxes.

[0260] At 1406, inventory information of the inventory item or article may be determined, the inventory information corresponding to the extracted visual information. The inventory information may be determined in any suitable manner, and may, for example, be determined or accessed by way of an inventory information database 116, such as by way of a warehouse management system 110 as described herein, based on the extracted visual information, such as a barcode.

[0261] At 1408, a mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform a wireless scan of the inventory item or article to identify one or more tags, for example one or more RFID tags of the inventory item or article. In some implementations, the performing of the wireless scan may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scan. The performing of the first wireless scan may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scan, the processing circuitry may access the wireless scan data for processing. The mobile antenna may be, or be part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0262] At 1410, the one or more tags may be compared to the determined inventory information of the inventory item or article. Any suitable comparison may be performed, for example to determine a match or a mismatch. At 1412, an inventory mismatch may beidentified based on the comparison of the one or more tags to the determined inventory information of the inventory item or article.

[0263] It will be understood that various modifications may be made to process 1400 in accordance with the present disclosure. For example, the steps of the process 1400 may be performed in any suitable order.

[0264] In some embodiments, determining the inventory information of the inventory item, for example at 1406, may comprise determining appearance information or one or more appearance characteristics of the inventory item. In some embodiments, the appearance information may indicate a number of boxes or a volume of the inventory item. In some examples, an expected number of tags may be determined based on the appearance information, wherein the expected number comprises a number or a range. In some examples, the inventory mismatch may be determined, for example at 1412, when it is determined that the one or more tags is not consistent with the expected number of tags.

[0265] In some embodiments, extracting the visual information from the image, for example at 1404, may comprise identifying text or one or more barcodes associated with the inventory item. In some examples, determining the inventory information of the inventory item, for example at 1406, may comprise retrieving the inventory information from a warehouse management system based on the text or one or more barcodes. In some embodiments, the inventory information may indicate a plurality of tags associated with the inventory item. In some examples, comparing the one or more tags to the inventory information, for example at 1410, may comprise determining whether the plurality of tags includes the one or more tags.

[0266] In some embodiments, identifying an inventory mismatch, for example at 1412, may comprise determining that the wireless scan did not identify one or more of the plurality of tags. For example, the inventory mismatch may indicate that one or more tags are missing, or have been moved, from an expected location.

[0267] In some embodiments, comparing the one or more tags to the inventory information, for example at 1410, may comprise identifying one or more additional tags not included in the inventory information. In some examples, the inventory information may be updated to include the one or more additional tags. Such an inventory item mismatch may therefore be used to determine a recent movement or placement of one or more inventory items at a location. In some embodiments, comparing the one or more tags to the inventory information, for example at 1410, may comprise: identifying missing and extra tags associated with theinventory information; and identifying complementary missing and extra tags associated with the one or more tags.

[0268] In some embodiments, identifying the inventory mismatch, for example at 1412, may comprise determining an incorrect labeling of the inventory item. In some examples, the incorrect labeling may comprise one of an incorrect barcode label applied to the inventory item, incorrect text on the inventory item, or an incorrect tag applied to the inventory item or an article thereof.

[0269] In some embodiments, an autonomous flying robot may comprise the mobile camera and the mobile antenna; and the autonomous flying robot may comprise processing circuitry configured to perform the comparing and the identifying. Examples will also be appreciated wherein the camera is comprised as part of a different robot to the robot comprising the mobile antenna. The image may be captured at the same time instance as, or during, the performing of the wireless scan, but examples will be appreciated wherein the image may be captured at a different time instance to that at which the wireless scan is performed, for example by different robots.

[0270] FIG. 15A shows an illustrative plan view of a mobile robot 130 moving within a warehouse environment 1500 along a path 1502 following an aisle adjacent to a storage rack 1504 within the warehouse 1500. The mobile robot 130, which in the example shown takes the form of an autonomous flying robot 130 as described herein, is configured to, along the path 1502, reach each of a sequence of virtual antenna poses 1506 comprising a position associated therewith. The robot 130 is configured to perform a wireless scan using an antenna (e.g., RFID antenna 220) positioned thereon, at each of the sequence of virtual antenna poses 1506. The wireless scan may, for example, be to detect a wireless tag 1510 (for example an RFID tag) associated with one or more inventory items or articles on the storage rack 1504, and may comprise a detection field 1508 thereof. While the detection field 1508 is depicted for illustration purposes in FIG. 15A as having a conical shape, this is for clarity only and it will be appreciated that any suitable detection field may be implemented such as described in relation to FIG. 3B. The detection of the wireless tag 1510 provides some localization information associated with the wireless tag 1510, for example indicating that the wireless tag 1510 is located within the detection field 1508 of the wireless scan performed at the virtual antenna pose 1506. Based on the known location of the virtual antenna pose 1506, and the known detection field 1508 of the antenna of the robot 130, approximate location information for the wireless tag 1510 may be obtained. Other localization methods, such as using Doppler information associated with the wireless scan, may be used to perform a more preciselocalization of the tag 1510 as being located in the storage rack 1504 at a position directly perpendicular to the robot 130 when the wireless scan was performed.

[0271] FIG. 15B depicts a front view of the storage rack 1504 from the perspective of the robot 130 at the virtual antenna pose of FIG. 15A. An outline of the detection field 1508 is depicted on FIG. 15B for illustration purposes, indicating two inventory items or articles 1552, 1554 positioned approximately perpendicular to the mobile robot 130 at the wireless scan location. As can be seen from FIG. 15B, based on the wireless scan data obtained from the wireless scan performed in FIG. 15 A, it may not be immediately apparent without a more focused localization being performed, which of the items or articles 1552, 1554 comprises the wireless tag 1510. In some examples, the robot 130 may be further configured to, on detection of the wireless tag 1510, capture an image of the storage rack 1504 using a camera thereon. In some examples, the image of the storage rack 1504 may be captured at the same time as the wireless scan or before or after the wireless scan. In some examples, the image may be captured by the same robot 130 or a different robot to the robot 130, when moving along the same path 1502 at a different time. In some examples, the image 1550 may be captured following the detection of a target tag, inventory item or article from the wireless scan data.

[0272] In some examples, the captured image 1550 may be processed to extract visual information therefrom, such as any suitable appearance characteristic or label information. Any suitable appearance characteristic may be extracted from the image, and may for example include color, pattern, barcode, fiducials, image, texture, text, dimensions, size, volume, or a number of boxes or inventory items or articles. The appearance characteristics may be compared with known or expected appearance characteristics associated with the wireless tag 1510, for example stored at a warehouse management system in order to identify that item or article 1552 comprises the tag 1510.

[0273] In some examples, wireless scan data from the wireless scan, for example an identified wireless tag 1510, may be used to indicate the presence of an inventory item or article 1552, in a location on the storage rack 1504. In some examples, the visual information extracted from the image may be used to verify, validate, or corroborate the wireless scan data, and may thereby provide a more accurate or precise localization of the inventory items or articles on the storage rack 1504.

[0274] FIG. 16 is a flow chart of an illustrative process 1600 for localization of an inventory item or article in accordance with some embodiments of the present disclosure, for example as described in relation to FIG. 15. In various embodiments, the individual steps ofprocess 1600 may be implemented by one or more components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, or 15. Although the present disclosure may describe certain steps of process 1600 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, or 15, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, or 15 may implement those steps instead.

[0275] At 1602, a mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform a wireless scan of an environment. In some implementations, the performing of the wireless scan may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scan. The performing of the wireless scan may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scan, the processing circuitry may access the wireless scan data for processing. The mobile antenna may be, or may be comprised as part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0276] At 1604, a tag (such as an RFID tag) of an inventory item or article may be identified based on the wireless scan. The tag may be any suitable wireless tag as described herein, and the tag identification process may be any suitable process.

[0277] At 1606 an image of the environment may be capture using a mobile camera. The mobile camera may be any suitable camera, and may for example be a camera (e.g., 218) comprised on or within a mobile robot (e.g., robot 130). In some implementations, the capturing of the image may comprise storing, or transmitting for storage, of the image. The capturing of the image may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the capturing (and optional storage) of the image, the processing circuitry may access the image for processing.

[0278] inventory information of the inventory item or article may be determined, the inventory information corresponding to the extracted visual information. The mobile camera may be, or may be part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). Examples will be appreciated wherein the camera may be part of the mobile antenna, for example comprised as part of a robot comprising the mobile antenna. Examples will also beappreciated wherein the camera is comprised as part of a different robot to a robot comprising the mobile antenna. The image may be captured at the same time instance as, or during, the performing of the wireless scan, but examples will be appreciated wherein the image may be captured at a different time instance to that at which the wireless scan is performed, for example by different robots.

[0279] At 1608, visual information may be extracted from the image. For example, the processing circuitry may be configured to access the image to perform any suitable visual information extraction process on the image. It will be appreciated that any suitable visual information may be extracted from the image, and in the illustrative example of FIG. 16, the visual information may comprise color, pattern, barcode, text, size, volume, and number of boxes.

[0280] At 1610, a location of the tag may be determined based on the visual information.

[0281] It will be understood that various modifications may be made to process 1400 in accordance with the present disclosure. For example, the steps of the process 1400 may be performed in any suitable order.

[0282] In some examples, initial location information of the tag may be determined based on the wireless scan, for example performed at 1602, and a location of the mobile antenna. The location of mobile antenna may be provided any suitable manner, for example by way of a localization sensor or unit of the mobile antenna, or a robot comprising the mobile antenna. In some embodiments, determining the location of the tag may comprise updating the initial location information based on the visual information. For example, the visual information may be used to verify, disambiguate, or update the initial location information available based on the wireless scan, for example performed at 1602, such as described in relation to FIG. 15A-B.

[0283] In some examples, extracting the visual information, for example at 1608, may comprise determining whether inventory slots in the environment are empty or occupied based on the image. With reference to FIG. 15B which shows a front view of a storage rack 1504, some of the shelves or slots of the storage rack 1504 are empty. Initial localization of the inventory item or article 1552 from data obtained during the wireless scan of FIG. 15 A, may not indicate, for example within an allowable confidence or certainty threshold, on which shelf or slot of the storage rack 1504 the inventory item or article 1552 is located. In some examples, determining the location of the tag, for example at 1610 may comprise determining the location in one of the inventory slots that is occupied. As such, in someexamples, the visual information may be used to verify or disambiguate the initial location information.

[0284] In some embodiments, identifying the tag of the inventory item, such as at 1604, may comprise identifying a tag number. Any suitable tag identifier will be appreciated, and in some examples a text identifier may be used in place of a number. In some examples, an article type may be determined based on the tag number. Any suitable determination of the article type based on the tag number will be appreciated. In some examples, the article determination may be performed by accessing inventory information, such as by way of an inventory information database (e.g., 116) of a warehouse management system (e.g., 110), corresponding to the tag identifier or number. In some examples, a location or region of the image that matches an appearance characteristic of the article type may be determined. The location or region of the image may be determined in any suitable manner, for example using a localization unit or sensor associated with the camera used for capturing the image (such as of a robot comprising the camera). The location or region of the image may be determined in some examples at least in part based on accessed inventory information as described. In some embodiments, determining the location of the tag, for example at 1610, may comprise determining the location based on the location or region. In some embodiments, the appearance characteristic may comprise dimension information of the article type or color information of the article type. Any suitable appearance information or characteristic will be appreciated as described herein.

[0285] In some embodiments, a subsequent image of the environment may be captured using the mobile camera. In some examples, subsequent visual information may be extracted from the image or the subsequent image, for example by any suitable manner as described in relation to the image captured at 1606. In some examples, it may be determined whether the location of the tag changed based on the subsequent visual information. Th subsequent image may be captured at any time after the capturing of the image, for example at 1606. The subsequent image may, in some examples, be used to verify that the identified tag, or an inventory item associated therewith, remains at the same location as previously identified. As such, a reduced number of process steps may be used to perform ongoing verification of previously determined localization information.

[0286] In some implementations of the present disclosure, a warehouse management system (e.g., 110) may store inventory information associated with inventory items or articles stored at corresponding locations within the warehouse. During positioning of the inventory items or articles within the warehouse at the locations indicated within the inventoryinformation, exact positioning of inventory items or articles may not correspond to the stored inventory information with a required accuracy or precision. The initial inventory information may therefore in some examples comprise an uncertainty value associated therewith. It may be desired, in some such implementations, to improve the uncertainty value, which may benefit the localization and retrieval of inventory items or articles within the warehouse. FIG. 17A shows an illustrative plan view of a portion of a warehouse environment 1700 comprising a plurality of inventory items or articles each comprising a wireless tag 1702 associated therewith. In the example shown, a mobile robot 130 is configured to, upon receipt of a scan request from the warehouse management system, for example by way of a robot management system (e.g., 120), perform a first wireless scan of a region 1704 of the warehouse using a first set of wireless scan parameters 1706. For example, the scan request may indicate a virtual antenna pose comprising a position to be attained by the mobile robot 130 before performing the first wireless scan. The region 1704 may be determined by the warehouse management system based on stored inventory information, such as information associated with inventory items or articles indicated to be stored within the region 1704. In some examples, the region 1704 and / or the first set of wireless scan parameters 1706 may be selected by the warehouse management system based on an uncertainty value associated with the region 1704, or the inventory articles or items (e.g., number or density) indicated to be located within the region 1704 by the inventory information.

[0287] Based on the first wireless scan, for example wireless scan data obtained from the first wireless scan, the stored inventory information may be updated by the warehouse management system. In some examples, based on the first wireless scan, a mismatch may be identified between the wireless scan data of the first wireless scan and the stored inventory information. The warehouse management system may, in response to the mismatch, adjust the uncertainty value associated with the region or inventory items or articles therein. In response to the mismatch, the warehouse management system may issue a further scan request configured to cause the robot 130 to perform a second wireless scan of the region at a different virtual antenna pose as shown in FIG. 17B. The warehouse management system may, for example, use the wireless scan data from the first wireless scan to determine that the virtual antenna pose of the first wireless scan comprises a suboptimal position (and / or optionally a suboptimal orientation), and the different virtual antenna pose may be instructed as part of the further scan request based on said determination. As shown in FIG. 17B, the second scanning parameters 1708 of the second wireless scan comprises the updated virtual antenna pose. Second wireless scan data obtained from the second wireless scan may beprovided to the warehouse management system, which may, based on the second wireless scan data, update the stored inventory information and / or the uncertainty value.

[0288] As shown in FIG. 17C, further scan requests, which may include the second scan request, may comprise scanning parameters 1710 and 1712 controlling a trajectory and / or speed of movement of the robot 130, with a slower movement closer to the desired scanning region being used in some examples when an uncertainty value associated with the region or inventory items or articles is low, or when there is a high density of wireless tags. As shown in FIG. 17C, in some examples a wireless scan is performed during faster movement of the mobile robot 130, further from the desired scanning region, when an uncertainty value associated with the region or inventory items or articles is higher, or when there is a low density of wireless tags.

[0289] In some examples, the uncertainty value may be determined in any suitable manner, and may be associated with an inventory item or article, a subset or grouping of inventory items or articles, a region within the warehouse. The uncertainty value may be determined, for example, based at least in part on the number of wireless scans or an elapsed time duration since a previous wireless scan. In some examples, in place of the uncertainty value may be any suitable value such as the number of wireless scans or an elapsed time duration since a previous wireless scan.

[0290] As such, in some examples, resource usage for localization and scanning tasks may be optimized in accordance with an uncertainty value associated with a region of a warehouse, or inventory items or articles therewithin, by optimizing scanning parameters based on the uncertainty value. Thereby, regions of the warehouse wherein localization certainty of inventory items or articles is higher may benefit from quicker and less-frequent resource usage in the performance of inventory tasks, whereas warehouse regions wherein localization certainty of inventory items or articles is lower may benefit from slower, more frequent resource usage. And similarly, resource usage for localization and scanning tasks may be optimized in accordance with knowledge of the environment (e.g., the density of tags and / or orientation of tags), by optimizing scanning parameters based on the knowledge. For example, regions of the warehouse wherein the density of inventory items or articles is lower may benefit from quicker performance of inventory tasks, whereas warehouse regions wherein the density of inventory items or articles is higher, may benefit from slower performance of localization tasks.

[0291] FIG. 18 is a flow chart of an illustrative process 1800 for selecting a scan parameter for performing wireless scanning in accordance with some embodiments of the presentdisclosure, for example as described in relation to FIG. 17. In various embodiments, the individual steps of process 1800 may be implemented by one or more components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, or 17. Although the present disclosure may describe certain steps of process 1800 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, or 17, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, or 17 may implement those steps instead.

[0292] At 1802, inventory information about an inventory region may be stored, the inventory information indicating tag information associated with the inventory region.

[0293] At 1804, a scan parameter setting may be selected based on the inventory information, the scan parameter setting for use in wireless scanning of the inventory region.

[0294] At 1806, a mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform the wireless scanning of the inventory region using the scan parameter setting. In some implementations, the performing of the wireless scanning may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scanning. The performing of the wireless scanning may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scanning, the processing circuitry may access the wireless scan data for processing. The mobile antenna may be, or may be comprised as part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The wireless scanning may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0295] It will be understood that various modifications may be made to process 1800 in accordance with the present disclosure. For example, the steps of the process 1800 may be performed in any suitable order.

[0296] In some embodiments, the scan parameter setting, for example selected at 1804, may be one of a Q value, a session type, a power level, a modulation-scheme, or a selective addressing setting.

[0297] In some embodiments, the inventory information may indicate a density of tags or a number tags in the inventory region.

[0298] In some embodiments, the scan parameter setting, for example selected at 1804, may comprise a selective addressing setting that selects a subset of a plurality of tags in theinventory region for wireless scanning. As such, any suitable filtering of a number of tags to be selectively addressed, for example during the wireless scan of 1806, may be used.

[0299] In some embodiments, the scan parameter setting, for example selected at 1804, may comprise a Q value; and when the inventory information indicates a large number of tags in the inventory region, the selected Q value may be higher than when the inventory information indicates a small number of tags in the inventory region. Any suitable scan parameter setting, and value thereof, may be selected as described herein.

[0300] In some embodiments, the inventory information may be received from a warehouse management system (e.g., 110), for example by way of an inventory information database (e.g., 116) thereof. In some embodiments, the inventory information may be determined based on a previous wireless scan of the inventory region. For example in some embodiments the inventory information may map one or more tags to a region based on the previous wireless scan performed on the region. In some embodiments, the inventory region is a subset of a larger inventory environment. Any suitable subset or zoning of the larger inventory environment will be appreciated, and may for example be associated with a tag density of the inventory region. In some embodiments, a location of the mobile antenna may be determined using a wireless localization system. In some examples, the mobile antenna may be determined to be in the inventory region based on the location.

[0301] Some implementations of wireless scanning, such as those intended to be improved in the present disclosure, may be affected by a high density of wireless tags, resulting in a slow speed of performance of inventory tasks such as localization or counting. The slow performance speed may, in some cases, be used to ensure responses from all wireless tags within a range at a particular position are received. Such slow performance speed may not be desirable in some cases due to the resultant increased demand for equipment or time for performing a scan of entire space (for example a warehouse). Associated equipment for performing such tasks may therefore hinder ongoing operations within the space (for example a warehouse), and an increase in required equipment may increase power requirements for operating such equipment.

[0302] In some examples of the present disclosure, it may be desired to verify the accuracy of inventory information, such as localization and counting information, stored in a warehouse management system (WMS). In such examples, the inventory information may provide a reference for comparing with subsequently obtained wireless scanning data. In some examples, the inventory information may be used to direct or inform the issuance of instructions for performing subsequent inventory tasks. In some examples, therefore, thestored inventory information may provide a prior understanding of the location and counts of wireless tags to be expected. Such expected location and count data may in some examples be used to control or modify instructions for performing inventory tasks, which may include wireless scanning. For example, such expected location and count data may be used to finetune one or more settings or configurations of a mobile robot, for example one or more wireless scanning parameters or image capture parameters of an antenna thereof. Such expected location and count data may be used in some examples to determine one or more virtual antenna poses, one or more trajectories to be traversed by one or more mobile antennas, or any characteristic or parameter associated with movement of the mobile antenna, such as a speed.

[0303] In some examples, a predefined subset of a larger group of wireless tags at a location may be polled during a wireless scan of the location, in accordance with the stored inventory information associated therewith. One or more response signals received during the wireless scan may be used to confirm the presence of the subset of wireless tags at the location, and may in some examples be used to confirm that the larger group of wireless tags is also present at the location. Such examples may reduce the resource requirements associated with the wireless scanning of tags for which inventory information is already stored. It will be appreciated that any suitable parameter or setting associated with the wireless scan may be modified or adjusted based on the inventory information, such as a Q value or modulation scheme. Such examples may be implemented by way of determining and communicating a list of wireless tags expected at a particular location by way of the warehouse management system, for example to a robot management system or a mobile antenna. A processing device may configure a mobile antenna to issue one or more wireless tag selection commands (e.g. as discussed in section 6.3.2.9 o GS1, EPC Radio-Frequency Identity Generation-2 UHF RFID Standard) for the list of wireless tags, or a subset thereof, once the mobile antenna is detected to be at the corresponding location (for example determined by a localization sensor or unit of the mobile antenna).

[0304] In some examples, any suitable parameter or setting associated with the wireless scan may be selected based on the number of wireless tags selected for response to the wireless scan, for example a modulation scheme and / or Q value. A checking logic may be used in some examples to monitor wireless tag responses, and may issue further wireless scanning or signal data processing commands.

[0305] In some examples, a virtual antenna pose may be selected or determined for performing a wireless scan by a mobile antenna as described herein. In some examples, thevirtual antenna pose may be selected or determined to provide an optimal signal transmission to and from the expected wireless tag, and may be determined based on an expected orientation of the tag (such as in accordance with known packing or packaging criteria for the associated inventory item or article), or a determined orientation of the tag (such as based on a captured image of the associated inventory item or article). For example, a particular orientation of the tag may provide optimal wireless scanning response when a wireless scan is performed at a corresponding particular orientation relative thereto. In some examples, a list of wireless tags expected to be located at a certain location may be determined (for example based on inventory information stored at a warehouse management system), and may include associated packaging type and orientation information associated with the corresponding inventory item or article. The list may be transmitted by way of the warehouse management system, for example to a robot management system or a mobile antenna. A processing device may be configured to determine from the transmitted list, one or more virtual antenna poses (having associated position information, and optionally orientation information as discussed herein) at which a wireless scan should be performed by a mobile antenna, to read one or more wireless tags from the list, once the mobile antenna is detected to be at the corresponding location (for example determined by a localization sensor or unit of the mobile antenna). A checking logic may be used in some examples to monitor wireless tag responses, and may issue further wireless scanning or signal data processing commands.

[0306] In some examples, any suitable movement parameter, for example characterizing a movement of a mobile antenna in performing an inventory task (which may include a wireless scan), may be determined or adjusted. For example, the movement parameter may be determined based on a type or quantity of an expected one or more wireless tags to be scanned, or of the associated inventory items or articles. For example, a slower movement speed may be selected for performing a wireless scan in a location having a high density of wireless tags, and a faster movement speed may be selected for performing a wireless scan in a location having a low density of wireless tags. In some examples, a list of wireless tags expected at a location may be determined and communicated, for example along with associated packaging type and orientation data as described herein, by way of the warehouse management system, for example to a robot management system or a mobile antenna.A processing device may be configured to determine a trajectory to be moved by a mobile antenna, for example selecting a movement path based on a known wireless tag position and orientation for optimizing signal transmission values, the path including one or more virtual antenna poses at which the mobile antenna is configured to perform a corresponding wirelessscan as described herein. The processing device may additionally be configured to determine or select, for example based on the wireless tag position and orientation, and for example based on a wireless tag density at one or more locations along the path, a movement speed of the mobile antenna to be performed at each stage of the path. The processing device may be further configured to determine or select any suitable wireless scanning parameters, such as a Q value, based on wireless tag density in a location to be scanned.

[0307] In some examples of systems of the methods disclosed herein, stored inventory and localization information associated with one or more corresponding inventory items or articles may comprise a confidence or certainty value as described herein, proportional to a confidence or certainty in the stored inventory and localization information. The confidence or certainty value of the inventory and localization information of an inventory item or article may, in some examples, be associated with a time duration elapsed since a wireless scan was performed detecting the inventory item or article. In some examples, no wireless scan may be performed of an inventory item or article following initial placement at an allocated storage location, which may in some such examples cause the confidence or certainty value associated with inventory and localization information of the inventory item or article to be comparatively low. This may, for example, represent an error rate associated with initial placement of inventory items or articles at the allocated storage location, which may be affected by a variety of factors such as available storage space at the location. The confidence or certainty value may, in some examples, comprise an associated decay rate at which the confidence or certainty value is configured to reduce over time, such as over a time period elapsed since a most recent wireless scan was performed detecting an associated inventory item or article. FIG. 19 shows a chronological sequence of illustrative plan views of a storage rack 1902 of a warehouse environment 1900, the storage rack 1902 comprising an inventory item or article 1904 stored thereon, the storage rack 1902 having wireless scans performed thereof over a chronological sequence of three said wireless scans 1906, 1920, 1926. In the example shown, the inventory item or article 1904, having a wireless tag 1905 located therein, was recently placed on the storage rack 1902 and corresponding inventory and localization information representing the storage location of the inventory item or article 1902 was stored at a warehouse management system (e.g., 110).

[0308] Following the initial placement of the inventory item or article 1902 on the allocated storage rack 1902 shown, an inventory task may be determined (such as by the warehouse management system, e.g., 110, or by a robot management system, e.g., 120) based on the placement and a corresponding confidence or certainty value associated with inventory andlocalization information associated with the placed inventory item or article 1904. Following determination of the inventory task, the inventory task may be allocated to a mobile robot (not shown), in any suitable manner such as described herein, the inventory task comprising moving of the mobile robot along a path 1912 proximate the storage rack 1902, and while moving along the path 1912, performing the first wireless scan 1906 (see, for example, FIG. 3B) at each virtual antenna position 1914 of a sequence of antenna positions 1914. In some embodiments, each of the antenna positions 1914 comprises a corresponding position and a corresponding orientation as described herein, the position and orientation such that the mobile robot is configured to perform the wireless scan of a portion of the storage rack 1902. The inventory task may further comprise one or more wireless scan parameters configured to control the performance of the wireless scan by the mobile robot (such as an antenna, e.g., 220, 354 thereof). For example, the one or more wireless scan parameters may determine one or more dimension features of the wireless scan, such as shape, size, range, and direction, which may be associated with a power required for performing the wireless scan, the power proportional to the size and range of the wireless scan.

[0309] The first wireless scans 1906 may be configured to be performed by the mobile robot at each of the corresponding antenna positions 1914 shown, and having a first corresponding wireless scanning location region 1916. The first wireless scanning location region 1916 may be a larger region, for example proportional to the confidence or certainty value associated with the inventory and localization information of the inventory item or article 1904 following the initial placement thereof. While the wireless scanning location region 1916 is depicted as conical, any suitable region will be appreciated, for example as described in relation to FIG. 3B. As depicted in FIG. 19, during the performance of the first wireless scans 1906 as the mobile robot moves along the path 1912, the inventory item or article 1904, for example the wireless tag 1905 thereof, is detected during the wireless scan performed at the third antenna position 1914 (depicted using solid crossed lines) and is not detected during wireless scans performed at each of the first, second or fourth antenna positions 1914 (depicted using dashed crossed lines). Following detection of the inventory item or article 1904, for example the wireless tag 1905 thereof, during the wireless scan performed at the third antenna position 1914, the inventory and localization information associated with the inventory item or article 1904 may be updated according to the detection. The updated of the inventory and localization information may comprise an update of the associated confidence or certainty value, such as to represent an improved confidence orcertainty of the location of the inventory item or article 1904 within scanning location region 1916.

[0310] At any suitable time instance following the first wireless scan 1906 of the storage rack 1902, and, for example, the updating of the corresponding inventory and localization information, a further inventory task may be determined (such as by the warehouse management system, e.g., 110, or by a robot management system, e.g., 120) for performing second wireless scans 1920 of the storage rack 1902. The further inventory task may be determined based on the updated confidence or certainty value associated with inventory and localization information of the inventory item or article 1904. Following allocation of the determined further inventory task to a mobile robot (not shown) as described, the mobile robot may be configured to move along a path 1918 proximate the storage rack 1902, and while moving along the path 1918, perform the second wireless scans 1920 (see, for example, FIG. 3B) at each antenna position 1922 of a sequence of antenna positions 1922.

[0311] As depicted in FIG. 19, during the performance of the second wireless scans 1920 as the mobile robot moves along the path 1918, the inventory item or article 1904, for example the wireless tag 1905 thereof, is detected during the wireless scan performed at the third antenna position 1922 (depicted using solid crossed lines) and is not detected during wireless scans performed at each of the first, second, fourth or fifth antenna positions 1922 (depicted using dashed crossed lines). Following detection of the inventory item or article 1904, for example the wireless tag 1905 thereof, during the wireless scan performed at the virtual antenna position 1922, the inventory and localization information associated with the inventory item or article 1904 may be further updated according to the detection. The further update of the inventory and localization information may comprise an update of the associated confidence or certainty value, such as to represent an improved confidence or certainty of the location of the inventory item or article 1904.

[0312] The second wireless scans 1920 comprise a second wireless scanning location region 1924. In some embodiments, one or more wireless scan parameters of the second wireless scans 1920 may be modified from the corresponding one or more wireless scan parameters of the first wireless scans 1906, based on the increased confidence and certainty value of the inventory item or article 1904. In the example shown, the dimension features of the wireless scan are the same as, but longitudinally offset from, the first wireless scans 1906. In FIG. 19, the wireless scanning location region 1924 of the second wireless scans 1920 is shown overlaid over the wireless scanning location region 1916 of the first wireless scan 1906, with the offset difference indicated using shading. By using longitudinally offsetpositions, the inventory item or article 1904 can be localized to a smaller region (e.g., by using an intersection function of location regions 1916 and 1924). In some embodiments, a probability density function can be determined for each wireless tag and the probability density function can be updated with each measurement. As more measurements are taken, the shape of the function is expected to become narrower and more peaked, indicating improved confidence and more certainty of the location of the wireless tag.

[0313] At any suitable time instance following the second wireless scans 1920 of the storage rack 1902, and, for example, the updating of the corresponding inventory and localization information, a further inventory task may be determined (such as by the warehouse management system, e.g., 110, or by a robot management system, e.g., 120) for performing third wireless scans 1926 of the storage rack 1902. The further inventory task may be determined based on the updated confidence or certainty value associated with inventory and localization information of the inventory item or article 1904. Following allocation of the determined further inventory task to a mobile robot (not shown) as described, the mobile robot may be configured to move along a path 1928 proximate the storage rack 1902, and while moving along the path 1928, perform the third wireless scans 1926 (see, for example, FIG. 3B) at each antenna position 1930 of a sequence of antenna positions 1930.

[0314] As depicted in FIG. 19, during the performance of the third wireless scans 1926 as the mobile robot moves along the path 1928, the inventory item or article 1904, for example the wireless tag 1905 thereof, is detected during the wireless scan performed at the third antenna position 1930 (depicted using solid crossed lines) and is not detected during wireless scans performed at each of the first, second, or fourth antenna positions 1930 (depicted using dashed crossed lines). Following detection of the inventory item or article 1904, for example the wireless tag 1905 thereof, during the wireless scan performed at the virtual antenna position 1930, the inventory and localization information associated with the inventory item or article 1904 may be further updated according to the detection. The further update of the inventory and localization information may comprise an update of the associated confidence or certainty value, such as to represent an improved confidence or certainty of the location of the inventory item or article 1904.

[0315] The third wireless scans 1926 comprise a third wireless scanning region 1932. In some embodiments, one or more wireless scan parameters of the third wireless scans 1930 are modified from the corresponding one or more wireless scan parameters of the first wireless scans 1906, based on the increased confidence and certainty value of the inventoryitem or article 1904. In the example shown, the dimension features of the wireless scan are the same as, but longitudinally offset from, the first wireless scans 1906. In FIG. 19, the wireless scanning location region 1932 of the third wireless scans 1926 is shown overlaid over the wireless scanning location regions 1916, 1924 of the first and second wireless scans 1906, 1920 with the offset differences indicated using shading. By using longitudinally offset positions in different directions, the inventory item or article 1904 can be localized to an even smaller region (e.g., by using an intersection function of location regions 1916, 1924, and 1932).

[0316] Therefore, as confidence or certainty in the precise location of the inventory item or article, for example following subsequent wireless scans thereof, reduced power may be used for wireless scanning associated with localizing the inventory item or article and / or reduced frequency of such wireless scans may be implemented. As such, improved process efficiency and localization accuracy or resolution may be achieved with each subsequent wireless scan of an inventory item or article.

[0317] In some examples, wireless tag data obtained during wireless scans performed, as described herein, over time (for example successive rounds of detecting one or more wireless tags by way of wireless scanning) may be combined to refine an accuracy, precision, confidence or certainty of localization and counting. In some examples, such as those wherein wireless tag data and associated inventory data may be stored at a warehouse management system, it may be indicated whether one or more wireless tags was, or was not, moved, since a wireless scan was most recently performed at the corresponding location of the one or more wireless tags. In some examples, once a wireless tag is deemed to have been localized with a desired, or threshold, accuracy, precision, confidence or certainty, it may be sufficient for the purposes of maintaining and updating the stored inventory data, to further detect, identify, read or localize the wireless tag for a predetermined number of times, for example a single time, or at a predetermined frequency or rate, such as a reduced rate, for confirming or verifying the continued presence of the wireless tag at the corresponding known location. The further wireless scans may in some examples be further modified based on one or more wireless scanning parameters or properties, which may determine one or more signal properties measured during a wireless scan, such as a Doppler shift and a signal strength. In some examples, if the wireless tag is not detected during the further wireless scan, or is not detected with the scanning parameters or properties associated with the corresponding expected location of the wireless tag (for example based on the data stored at the warehouse management system), a renewed localization process may be triggered. Somesuch examples may improve the speed of performing inventory tasks such as localization or counting, in examples wherein a priority may be applied to new or moved wireless tags for localization and counting, while established or known wireless tags may be subject to wireless scanning associated with indicating the continued presence of the wireless tag at an expected location, for example using a reduced number of wireless scans and / or a reduction in the resource usage for such scans.

[0318] In some examples, the inventory and localization information associated with an inventory item, or a wireless tag thereof, may be associated with a corresponding behavior or state of the system as shown in the illustrative example of FIG. 20. FIG. 20 shows a plurality of such states of an example system which may be associated with a corresponding one or more inventory items or wireless tags thereof, each state associated with a corresponding frequency with which wireless scanning instructions are generated and transmitted for wireless scanning of an inventory item or wireless tag having the associated state. In the illustrative example shown, a first state 2002, labeled “State 0” 2002 in FIG. 20, is associated with a high frequency of wireless scanning of the corresponding inventory item or wireless tag. A second state 2004, labeled “State 1” 2004 in FIG. 20, is associated with a lower frequency of wireless scanning of the corresponding inventory item or wireless tag, relative to “State 0” 2002. A third state 2006, labeled “State 2” 2006 in FIG. 20, is associated with no wireless scanning of the corresponding inventory item or wireless tag.

[0319] Transition between “State 0” 2002 and “State 1” 2004, between “State 1” 2004 and “State 2” 2006, and between “State 2” 2006 and “State 0” 2002, may, in some examples, be determined at least in part by a confidence or certainty value associated with the inventory and localization information of a corresponding inventory item, inventory article, or wireless tag. For example, a state transition may occur when with the confidence or certainty value is detected to be above or below a confidence or certainty threshold. For example, a first one or more detections of the inventory item, inventory article, or wireless tag, during one or more wireless scans performed at a first scanning frequency, may increase the associated confidence or certainty value. A transition from “State 0” 2002 to “State 1” 2004 may occur following a detection that the confidence or certainty value is above a first confidence or certainty threshold Ti as shown in FIG. 20. A second one or more detections of the inventory item, inventory article, or wireless tag, during one or more wireless scans performed at a second scanning frequency lower than the first scanning frequency, may further increase the associated confidence or certainty value. A transition from “State 1” 2004 to “State 2” 2006 may occur following a detection that the confidence or certainty value is above a secondconfidence or certainty threshold T2 as shown in FIG. 20, such that no further wireless scanning is performed for the inventory item, inventory article, or wireless tag. It will be appreciated that a reduction in the confidence or certainty values, by any suitable manner such as described herein, may result in state transitions in the reverse order. For example, in the event that during the one or more wireless scans, the inventory item, inventory article, or wireless tag is determined to have moved position, or is not detected, the inventory item, inventory article, or wireless tag may remain associated with “State 0” 2002, or be the subject of a state transition from “State 1” 2004 to “State 0” 2002.

[0320] In some examples, transition between “State 0” 2002 and “State 1” 2004, between “State 1” 2004 and “State 2” 2006, and between “State 2” 2006 and “State 0” 2002 may additionally, or alternatively, be determined at least in part by a time elapsed since the corresponding inventory item, inventory article, or wireless tag was detected by way of a wireless scan. For example, a transition from “State 2” 2006 to “State 1” 2004 may occur following a threshold time period of the inventory item, inventory article, or wireless tag being associated with “State 2” 2006 in which no wireless scanning of the article or tag is performed. Following a subsequent indication of a detection of the inventory article or item at an intended location during a wireless scan performed at the second scanning frequency associated with “State 1” 2004, and optionally following a resultant increase in an associated confidence or certainty value above a corresponding threshold T2, a state transition from “State 1” 2004 to “State 2” 2006 may occur for the inventory item, inventory article, or wireless tag. In the event that, during the wireless scan, the inventory item, inventory article, or wireless tag is determined to have moved position or is not identified, a state transition from “State 1” 2004 to “State 0” 2002 may occur as shown in FIG. 20.

[0321] In some examples, transition between “State 0” 2002 and “State 1” 2004, between “State 1” 2004 and “State 2” 2006, and between “State 2” 2006 and “State 0” 2002, may additionally, or alternatively, be determined at least in part by a number of wireless scans indicating a detection of the inventory item, inventory article, or wireless tag. Such state transitions may occur in addition to, or as an alternative to those described, and may for example occur following an indication of a threshold number of detections of the inventory item, inventory article, or wireless tag from corresponding wireless scans.

[0322] In some examples, transition between “State 0” 2002 and “State 1” 2004, between “State 1” 2004 and “State 2” 2006, and between “State 2” 2006 and “State 0” 2002, may additionally, or alternatively, be determined at least in part by an indication that the corresponding inventory item, inventory article, or wireless tag was moved. Such movingmay be intentional, for example by an instructed relocating of the inventory item, inventory article, or wireless tag within the warehouse. In some cases the movement of the inventory item, inventory article, or wireless tag may be unintentional, and may be indicated, for example, following the detection of the inventory item, inventory article, or wireless tag in a location which is different to that stored for the inventory item, inventory article, or wireless tag, for example by a warehouse management system. For example, and as shown in FIG. 20, in the event that during “State 2” 2006 and prior to an elapsing of the threshold time duration ti, an indication is received that the inventory item, inventory article, or wireless tag is moved (whether by instruction or by any other manner), a state transition may occur from “State 2” 2006 to “State 0” 2002.

[0323] In some embodiments, transition between “State 2” 2006 and “State 0” 2002 and between “State 2” 2006 and “State 1” 2004, may additionally, or alternatively, be determined based on an event increasing localization uncertainty. For example, localization uncertainty may increase when a neighboring tag or a tag of the same slot is moved. When a tag is moved, nearby tags may become displaced (e.g., moved out of the way to access the tag being moved or moved by accident). Such events can be determined, for example, from a warehouse management system (e.g., WMS 110) or from a user’s scanner (e.g., scanner 140).

[0324] The state transitions of FIG. 20 are provided for example only and without limitation, and examples will be appreciated wherein any number of corresponding states, and any suitable manner of transition therebetween, are implemented.

[0325] FIG. 21 is a flow chart of an illustrative process 2100 for localization of an inventory item or article in accordance with some embodiments of the present disclosure, for example as described in relation to FIGS. 19-20. In various embodiments, the individual steps of process 2100 may be implemented by one or more components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, or 20. Although the present disclosure may describe certain steps of process 2100 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, or 20, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, or 20 may implement those steps instead.

[0326] At 2102, a plurality of localization states and location information are stored for a plurality of inventory items. The localization state may be any suitable descriptor or setting associated with the localization or location of the plurality of inventory items, and may in some examples be associated with a confidence or certainty of the localization or location, asdescribed herein. In some embodiments, the location state may include a probability density function (e.g., a over a three-dimensional volume such as a three-dimensional Gauss kernel). The probability function, integrated over the three-dimensional volume of a shelf, slot, location, etc. will provide the probability of a tag being located there.

[0327] At 2104, wireless scan information is received for a first inventory item of the plurality of inventory items. A mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform a wireless scan obtaining the wireless scan information. In some implementations, the performing of the wireless scanning may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scanning. The performing of the wireless scanning may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scanning, the processing circuitry may access the wireless scan data for processing. The mobile antenna may be, or may be comprised as part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0328] At 2106, updated location information is determined for the first inventory item based on the wireless scan information, for example as described in relation to FIG. 19-20. In some embodiments, the updated location information comprises an updated probability function, which can be determined taking into account the new wireless scan information. In one example, the probability function for the first inventory item can be integrated over the three-dimensional volume of possible locations (e.g., shelves, slots, etc.) to determine the most probably location of the inventory item. At 2108, the localization state for the first inventory item may be updated based on the wireless scan information, for example as described in relation to FIG. 19-20. In some embodiments, the shape of the probability function or the probability of the first item being in a location can indicate accuracy or confidence in the location information for an inventory item, and this accuracy or confidence can be used to determine the localization state. At 2110, a wireless scanning priority of the first inventory item may be determined based on the updated localization state. For example, a localization state corresponding to higher confidence may correspond to a lower wireless scanning priority.

[0329] It will be understood that various modifications may be made to process 2100 in accordance with the present disclosure. For example, the steps of the process 2100 may be performed in any suitable order.

[0330] The wireless scanning priority may correspond to, or may be used to indicate, an accuracy, confidence or certainty in the location associated with the first inventory item, and may be based on the localization state. In some examples, the wireless scanning priority may indicate whether to scan for the first inventory item. The wireless scanning priority may therefore be used in some examples to reduce the performance of unnecessary wireless scanning. In some examples, the wireless scanning priority may indicate how often to perform a scanning pass to scan for the first inventory item. In some embodiments, the wireless scanning priority may indicate how many times to scan for the first inventory item during a scanning pass. The wireless scanning priority may therefore be used to control the frequency with which wireless scanning of an inventory item may be performed, which may act to more efficiently allocate scanning resources.

[0331] In some embodiments, the localization state for the first inventory item may be updated based on data received from a warehouse management system (e.g., 110), for example by way of an inventory information database (e.g., 116) thereof. In some examples, the localization state for the first inventory item may be updated based on data received from a user.

[0332] In some examples, the wireless scanning priority may comprise one of a first wireless scanning priority, a second wireless scanning priority, and a third wireless scanning priority. In some examples, the first wireless scanning priority causes more wireless scans to be performed for the first inventory item than the second wireless scanning priority. In some examples, the second wireless scanning priority causes more wireless scans to be performed for the first inventory item than the third wireless scanning priority. As such, any suitable tiered scanning priority system may be implemented to efficiently allocate the use of wireless scanning resources, and in particular to reduce instances of unnecessary resource usage.

[0333] In some examples, the localization state for the first inventory item may indicate an accuracy or confidence in the location information for the first inventory item.

[0334] In some embodiments, an autonomous flying robot may comprise the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the determining, the updating, and the determining.

[0335] In some examples, an antenna may be configured to detect, identify, read, or localize all of the wireless tags of inventory items or articles within the wireless scanning rangethereof. For example, an RFID scanning gate may be configured to read wireless tags of all inventory items or articles passing through it, or an autonomous flying robot having an RFID antenna may be configured to can read the wireless tags of all inventory items and articles within the associated wireless scanning range, for example in front of the robot. In some examples, a capacity of a system for reading or transmitting wireless scan data, for example associated with the link budget, may not permit the detection, identification, reading or localization of all of the wireless tags within the wireless scanning range (for example in cases wherein the link budget is too low). In some cases, for example, wireless tags may be sub-optimally oriented for reading or detection, one or more of the wireless tags may be in proximity to conductive materials, or a plurality of wireless tags may be densely packed. Such scenarios may present difficulties in performing inventory tasks using wireless scanning.

[0336] FIG. 22 shows an illustrative isometric view 2200 of an inventory item 2202, comprising a plurality of inventory articles 2204 stacked on a pallet 2206. In the example 2200 shown, each inventory article 2204 of the inventory item 2202 comprises a corresponding wireless tag (not shown) configured to be detected during a wireless scan thereof, for example performed by a mobile antenna as described herein in relation to FIG. 3B. A wireless scan performed of the inventory item 2202 may be configured to detect wireless signals from each inventory article wireless tag located within the wireless scanning range of the wireless scan performed. Signal data from such signals may be collated and analyzed by any suitable method, for example to identify the presence of a target wireless tag, or a target group of wireless tags, present within the signal data.

[0337] In some examples, signal data associated with a target wireless tag, or a target group of wireless tags, may be predefined for each target wireless tag or group of wireless tags. The signal data may, in such examples, form, or be associated with, a wireless signature of the wireless tag or the group of wireless tags, for example a radio frequency (RF) signature. A wireless signature may be generated in any suitable manner, and may in some examples comprise the setting of a first wireless scanning parameter, such as a Q value, to a first probing value. The first probing value may be determined in accordance with any suitable protocol, and may in some examples be determined randomly. In some examples wherein a quantity of wireless tags to be detected, identified, read, or localized is known, the first probing value may be determined based on the quantity. In some examples following a first wireless scan performed using the first wireless scanning parameter set to the first probing value, wireless scan data obtained during the first wireless scan may be used to determine asecond updated value of the first wireless scanning parameter, which may in some examples be a second probing value. For example, if the wireless scan data of the first wireless scan indicates response signals from too many wireless tags, or too few wireless tags, the wireless scanning parameter may be updated to the second updated value, for example the second probing value, accordingly. If a second wireless scan is performed using the second probing value of the first wireless scanning parameter, and again the wireless scan data of the second wireless scan indicates response signals from too many wireless tags, or too few wireless tags, the wireless scanning parameter may be further updated accordingly. As such an iterative updating of the wireless scanning parameter may be used for performing a wireless scan of a location, inventory item or article of which stored inventory information (such as a wireless signature) does not exist at the warehouse management system, or wherein the stored inventory information is required to be updated. Such a wireless signature may be stored, for example at a warehouse management system (e.g., 110), for comparison to signal data obtained during a wireless scan of a target region, a target inventory item, or a target group of inventory items. The comparison may be any suitable comparison, and may comprise a similarity assessment, wherein a similarity score is provided proportional to a similarity of a detected signal data to a known wireless signature. In some examples, a wireless signature may be detected as present within signal data obtained from one or more wireless scans when the signal data comprises a threshold similarity to the wireless signature. In such examples, when the signal data is below a threshold similarity to the wireless signature, it may be deemed that the inventory item, or one or more inventory articles thereof, are not present, or are changed.

[0338] In some examples, the wireless signature may indicate, for detection by the antenna, how many wireless tags are represented in the wireless signature; a number of wireless tags to be identified, detected, read or localized by the antenna; or a maximum number of wireless tags to be identified, detected, read or localized by the antenna. In some examples, the wireless signature may indicate, for each of one or more virtual antenna poses (each poses associated with a corresponding position, and optionally a corresponding orientation as described herein), how many wireless tags are represented in the wireless signature when a wireless scan is performed at the corresponding pose; or, for each of one or more polarizations, how many wireless tags are represented in the wireless signature when a wireless scan is performed using the corresponding polarization. In some examples, the wireless signature may indicate a strength of a response signal from each of the wireless tags in response to a wireless scan, for example in an absolute sense or relative to each otherwireless tag. In some examples, the wireless signature may indicate information about the inventory item or article associated with the wireless tag (e.g., an electronic product code (EPC)).

[0339] In some examples, the predefined wireless signature for target wireless tag or a target group of wireless tags may be associated with an antenna characteristic, such as an antenna proximity to the wireless tag, an antenna orientation relative to the wireless tag. Any other data may be associated with the predefined wireless signature, and used, for example, for identifying, analyzing or detecting the wireless signature within signal data obtained during a wireless scan, for example a wireless signal characteristic such as a strength or a polarization, or identifying information associated with the wireless tag or the inventory item or article. Other suitable data associated with the wireless signature may also be utilized.

[0340] In some examples, a mobile antenna may be configured to perform a first wireless scan to detect signal data of one or more wireless tags of an inventory item or article, the one or more wireless tags having a known wireless signature associated therewith. The signal data obtained from the first wireless scan may in some examples be used to identify one or more antenna poses or positions, the antenna poses or positions defining a wireless position and optionally an antenna orientation. The mobile antenna may be configured to move to the position (or orientation) defined in a determined antenna pose or position, to perform a second wireless scan of the one or more wireless tags of the inventory item or article. In such examples, the antenna pose or position may define an optimal position and optionally orientation at which, when the wireless scan is performed by the mobile antenna, the wireless signature of the one or more wireless tags may be optimally detected. It will be appreciated that the signal data from the first wireless scan may comprise any suitable signal characteristic, parameter, property, or instructions configured to inform the performance of the second wireless scan. For example, the signal data may comprise an indication of a signal strength of the second wireless scan to be performed by the mobile antenna; a filter, or filter properties, to be applied during the second wireless scan, for example to focus the second scan on signal data associated with the target wireless tags; or an antenna of a plurality of antennas to be used for the second wireless scan, for example in cases wherein an antenna is one of a plurality of such antennas located on a mobile device (e.g., 130).

[0341] A wireless signature for an inventory item or article may, in some examples, be generated based on signal data received during a first wireless scan of the inventory item or article. For example, the signal data may be used, such as in combination with a mobile antenna pose of a mobile antenna performing the first wireless scan, and / or one or morewireless scan parameters of the first wireless scan, in any suitable manner for generating the wireless signature. The wireless signature, once generated, may be stored for access and use by a mobile antenna in detecting the inventory item or article during future wireless scans.

[0342] Such wireless signatures may address issues associated with scanning target wireless tags in environments with a high density of wireless tags, or in the presence of one or more sources of signal interference. Such wireless signatures may also enable the performance of a broad, lower-power, wireless scan in order to detect a target inventory item or article, and may reduce the required power associated with performing a more focused, higher-power wireless scan.

[0343] In the example 2200 shown in FIG. 22, the inventory item 2202 comprises a known wireless signature associated therewith, and stored at a warehouse management system (e.g., 110), for use in identifying the presence of the inventory item 2202, and the completeness of the component inventory articles 2204 thereof. Indicated in FIG. 20 are a plurality of virtual antenna poses 2208, 2210, 2212, 2214, to which a mobile antenna (e.g., 130) may be moved following instructions received thereby to perform a first wireless scan of the inventory item 2202. Each of the virtual antenna poses 2208, 2210, 2212, 2214 comprises an associated position and an associated orientation, as described herein, configured to be attained by the mobile antenna prior to performing the corresponding wireless scan. The stored wireless signature of the inventory item 2202 comprises a collection of signal data which is characteristic of the inventory item 2202, and the component inventory articles 2204 thereof, for detection during a wireless scan by a mobile antenna, such as that described in FIG. 3B. At a first virtual antenna pose 2208, a mobile antenna (not shown) may perform a wireless scan and receive a signal strength value “ss” of 60, and obtain a wireless tag count success rate “c” of 65%. At a second virtual antenna pose 2210, the mobile antenna may perform a wireless scan and receive a signal strength value “ss” of 72, and obtain a wireless tag count success rate “c” of 70%. At a third virtual antenna pose 2212, the mobile antenna may perform a wireless scan and receive a signal strength value “ss” of 80, and obtain a wireless tag count success rate “c” of 75%. At a fourth virtual antenna pose 2214, the mobile antenna may perform a wireless scan and receive a signal strength value “ss” of 85, and obtain a wireless tag count success rate “c” of 85%. The mobile antenna may, in some embodiments, be configured to move about the inventory item to achieve a sequence of antenna poses prior to performing a corresponding wireless scan. Embodiments will be appreciated wherein the wireless tags of one or more of the inventory articles 2204 are configured to provide signal data during a first wireless scan at one of the antenna poses 2208, 2210, 2212 which isconfigured to be used by the mobile antenna to move to the fourth antenna pose 2214, and perform a subsequent wireless scan and the received “ss” and the obtained “c” are analyzed, for example by comparison to the expected values of the wireless signature, and similarity metric or percentage may be calculated (e.g., for each metric and optionally combined using, e.g., weighted sum).

[0344] In some examples, systems may be configured to use a known wireless signature to predict the presence of one or more inventory items or articles which either do not have an associated wireless signature, or for which a wireless signature has not yet been generated. The use of a known wireless signature in this manner may be based on a determined similarity between the inventory item or article of the wireless signature, and the inventory item or article to be scanned. In one particular example, a pallet of shoe boxes housing shoes of size 10 may comprise a known wireless signature, which may be used to identify, detect or locate pallets of shoe boxes housing shoes of size 9 and / or size 11. Similarly, a pallet storing t-shirts may comprise a wireless signature associated therewith which may be used to identify, detect, or locate a pallet of different t-shirts or items of clothing such as underwear.

[0345] In some examples, the wireless signature, for example an RF signature, may be specific to a mobile antenna via which the signal data used for generating the wireless signature was obtained. Subsequent detections, identifications or localizations of the corresponding inventory item, article or wireless tag may be performed in some examples by a different mobile antenna, which may apply a similarity score to wireless scan data based on the wireless signature generated for a different mobile antenna. In some examples, a wireless signature generated using signal data obtained by a first mobile antenna may be communicated to a second mobile antenna, for example via the first mobile antenna. For example, a wireless signature generated during a wireless scan performed by a first mobile antenna forming a wireless scanning gate a door to a warehouse may be communicated to one or more second mobile antennas for performing ongoing identification, detection, and localization of the associated inventory item. In some examples wherein a change in the inventory item, or one or more inventory articles thereof, is determined, such as from a wireless signature, one or more further wireless scans of the inventory item or article may be triggered, such as a slower, more focused, more sensitive or higher power wireless scan at one or more corresponding antenna poses. The further scans may be used to generate a new wireless signature for the inventory item or article in some examples.

[0346] FIG. 23 shows an illustrative example block diagram showing components of a system 2300 suitable for making use of wireless signatures in the performing of inventoryitem localization tasks such as that described in relation to FIG. 22. In particular, the system 2300 comprises a warehouse management system (WMS) 2302 (e.g., corresponding to warehouse management system 110) storing inventory and localization information associated with inventory items and articles, and associated wireless tags thereof, stored in a warehouse environment. In particular, the WMS 2302 stores location information (such as location, position, orientation, and dimension data), wireless tag information (such as a tag identifier) and item or product information (such as product classification information, packaging type, density, and orientation information) associated with each inventory item or article stored in the warehouse. The system further comprises a mobile robot 2304 (e.g., corresponding to robot 130) configured to receive robot commands associated with an inventory task from the warehouse management system, move to a position and / or orientation within the warehouse environment according to the commands, and use an antenna thereof for performing a wireless scan, such as that described in relation to FIG. 3B. The mobile robot 2302 is further configured to output information associated with the wireless scan performed, for example raw or processed data as suitable, to the warehouse management system 2302. The system further comprises a control unit 2306 via which elements of the system are configured to communicate. In particular the control unit 2306 is configured to permit access to storage storing wireless signatures 2308 (which in the example 2300 shown are RF signatures) and additional wireless data 2310 obtained during wireless scanning using the mobile robot 2304. A user 2312 may input inventory control commands to the warehouse management system 2302 by way of the control unit 2306, and receive output inventory reports therefrom, the inventory reports comprising inventory data characterizing, for example, the location and inventory data of the warehouse management system 2302. The control unit 2306 is configured for issuing or relaying information requests for information access and transmission by way of the wireless signature and wireless scan data storage 2308, 2310, and receiving the corresponding data for communication to the warehouse management system 2302, the mobile robot 2304 (e.g., directly or via robot management system 120) or the user 2312. Any suitable system will be appreciated within the context of the present disclosure, and may combine or omit any one or more elements of the example system described in relation to FIG. 23 as suitable. In some embodiments, one or more components of system 2300 may be implemented in the cloud (e.g., control unit 2306, warehouse management system 2302, storage 2308, and / or storage 2310).

[0347] FIG. 24 is a flow chart of an illustrative process 2400 for using RF signature information for wireless scanning in accordance with some embodiments of the presentdisclosure, for example as described in relation to FIGS. 22-23. In various embodiments, the individual steps of process 2400 may be implemented by one or more components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, or 23. Although the present disclosure may describe certain steps of process 2400 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, or 23, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, or 23 may implement those steps instead.

[0348] At 2402, radio frequency (RF) signature information for an inventory item may be stored. Any suitable storage will be envisaged as described herein, and the signature information may for example be stored at a warehouse management system (e.g., 110), such as an inventory information database (e.g., 116) thereof. The radio frequency signature information may be obtained in any suitable manner, such as that described for FIG. 22-23.

[0349] At 2404, a wireless scan of the inventory item may be performed using a mobile antenna. A mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform the wireless scanning. In some implementations, the performing of the wireless scanning may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scanning. The performing of the wireless scanning may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scanning, the processing circuitry may access the wireless scan data for processing. The mobile antenna may be, or may be comprised as part of, a robot. The robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0350] At 2406, tag information may be determined based on the wireless scan. The tag information may be determined using any suitable method such as described herein. For example, the tag information may comprise one or more tag response signals detected or obtained during the wireless scan. At 2408, it may be determined whether the tag information is within an expected range based on the radio frequency signature information. At 2410, an action may be taken when the tag information is outside of the expected range.

[0351] It will be understood that various modifications may be made to process 2400 in accordance with the present disclosure. For example, the steps of the process 2400 may be performed in any suitable order.

[0352] In some examples, determining the tag information, for example at 2406, may comprise determining a number of tags identified from the wireless scan. In some examples, determining whether the tag information is within the expected range, for example at 2408, may comprise determining whether the number of tags is less than a threshold number of tags.

[0353] In some examples, the RF signature information may indicate a plurality of tags for the inventory item; and the number of tags may be the number of tags identified of the plurality of tags.

[0354] In some examples, it may be determined that one or more articles are missing when the tag information is below the expected range, for example at 2410.

[0355] In some examples, performing the wireless scan of the inventory item, for example at 2404, may comprise receiving one or more response signals from one or more respective tags. In some examples, determining the tag information, for example at 2406, may comprise determining signal strength based on the one or more response signals. In some embodiments, determining whether the tag information is within the expected range may comprise comparing the signal strength to a signal strength threshold.

[0356] In some examples, it may be determined that one or more articles associated with the inventory item are oriented differently than expected when the signal strength is not within the expected range, for example at 2410.

[0357] In some examples, the RF signature information may comprise, for the inventory item, pose information for a plurality of poses and corresponding RF information for each of the plurality of poses. In some examples, taking the action may comprise flagging the inventory item for further evaluation or determining a different scan setting for a subsequent wireless scan, for example as described in relation to FIG. 22. In some examples, taking the action may comprise capturing, using a camera, an image of the inventory item as described in relation to FIGS. 15A-B.

[0358] In some embodiments, the robot may comprise processing circuitry configured to perform the determining the tag information, the determining whether the tag information is within the expected range, and the taking the action.

[0359] FIG. 25 shows an illustrative example block diagram of a system 2500 that integrates a virtual antenna system with a physical antenna system. In particular, the system comprises a warehouse management system 2502 having a memory 2504 storing a plurality of reader identifiers (IDs) and antenna identifiers (IDs). The system further comprises a physical reader 2506 comprising a plurality of antenna ports 2508, each in communicationwith a corresponding physical antenna 2510 positioned at a fixed physical location within a warehouse setting (not shown). In some embodiments, the warehouse management system 2502 is configured to address the physical reader 2506 using its corresponding reader ID and each antenna port 2508 using its corresponding antenna ID. For example, warehouse management system 2502 may send a scan request including a reader ID and an antenna ID associated with physical reader 2506 to physical reader 2506 and physical reader 2506 may perform a wireless scan using the corresponding physical antenna 2510 of the addressed port 2508 based on instructions provided in the scan request. While a single physical reader is shown in FIG. 25, multiple physical readers may be used in system 2500.

[0360] The system 2500 further comprises a robot management system 2512 comprising a memory 2514 storing a plurality of antenna IDs (e.g., including a subset of the antenna IDs of those stored at the warehouse management system 2502). The memory 2514 of the robot management system 2512 further stores a mapping of at least one of the antenna IDs to a corresponding virtual antenna comprising a location and in some embodiments an orientation. In some embodiments, the memory 2514 further stores one or more reader IDs (e.g., each associated with a region of a warehouse). Each of the mobile robots 2516 of the system 2500 is configured to receive instructions from the robot management system 2512 for performing wireless scans. In some embodiments, the robot management system 2512 converts the antenna ID (and in some cases the reader ID) of a scan request to a location and optionally an orientation for performing the scan, selects a particular robot 2516, and transmits the location and optionally the orientation to the selected robot 2516 for performing the requested scan. In some embodiments, the robot management system 2512 selects a particular robot 2516 and transmits the scan request to the selected robot 2516. The selected robot 2516 may store the mapping of antenna IDs to corresponding virtual antennas and convert the antenna ID of the scan request to the location and optionally the orientation for performing the scan. The mobile robots 2516 of the system 2500 are further configured to, in response to receiving the instructions (e.g., the location and optionally the orientation and / or the scan request), move to the location and optionally orientation corresponding to the virtual antenna received, and while at or moving through the location, perform a wireless scan, such as in accordance with that described in relation to FIG. 3B. The robot management system 2512 therefore functions as a virtual reader, whereas reader 2506 is a physical reader. As a result, warehouse management system 2502 can send scan requests in the same format to physical reader 2506 and robot management system 2512.

[0361] The system 2500 further uses a communications application programming interface (API) 2518 to facilitate the communication of wireless scan instructions from the warehouse management system 2502 to the physical antenna system 2506 and the robot management system 2512. In some embodiment, system 2500 uses the low-level reader protocol (LLRP) interface for communicating between warehouse management system 2502 and the corresponding physical and virtual readers (i.e., physical reader 2506 and robot management system 2512). In this way, physical and virtual readers and their corresponding physical and virtual antennas may be integrated seamlessly in system 2500.

[0362] In some embodiments, the warehouse management system 2502 is configured to identify an antenna ID of the antenna IDs stored on the memory 2504 thereof, for performing a wireless scan by an antenna (physical or virtual) associated with the antenna ID. In some examples, the warehouse management system 2502 is configured to communicate, by way of the communications API 2518, the identified antenna ID to the physical antenna system 2506 and / or the robot management system 2512. The robot management system 2512 is configured to, in response to receiving an antenna ID associated with a virtual antenna, map the antenna ID to the corresponding virtual antenna location and optionally orientation. In some embodiments, the robot management system 2512 is further configured to communicate the mapped virtual antenna to a selected mobile robot 2516 of the plurality of mobile robots 2516 for moving to the virtual antenna location and optionally orientation and performing a wireless scan while located at or moving through the virtual antenna location. The mobile robot 2516 is configured to, following the performance of the wireless scan, communicate signal data from the wireless scan to the robot management system 2512 or the warehouse management system 2502 by way of the communications API.

[0363] In some examples, the robot management system 2512 may select one or more robots 2516 based on the mapped location, and communicate instructions to the selected one or more robots 2516 to move to the virtual antenna location for performing the wireless scan. The selecting of the robots 2516 may be performed in any suitable manner, and may in some examples be based on a proximity of the one or more robots 2516 to the virtual antenna location, a current scanning status or inventory task status of the one or more robots 2516, or a battery charge level of the one or more robots 2516.

[0364] FIG. 26 is a flow chart of an illustrative process 2600 for using an antenna ID to perform a wireless scan at a location in accordance with some embodiments of the present disclosure, for example as described in relation to FIG. 25. In various embodiments, the individual steps of process 2600 may be implemented by one or more components of thedevices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, 23, or 25. Although the present disclosure may describe certain steps of process 2600 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, 23, or 25, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, 23, or 25 may implement those steps instead.

[0365] At 2602, a scan request comprising an antenna ID for an antenna may be received. In some examples, the scan request may be received in any suitable manner as described herein, for example from a warehouse management system (e.g., 110, 2502). As described in relation to FIG. 25, the scan request may be communication by way of any suitable communications API or protocol. In some examples, the scan request may be received from the warehouse management system (e.g., 110, 2502) at a robot management system (e.g., 120, 2512), for example by way of the communications API or protocol. At 2604, the antenna ID may be converted to a location. The conversion of the antenna ID to the location may be performed based on any suitable predefined or real-time determined mapping, for example as described in relation to FIG. 25, such as between an antenna ID and a corresponding virtual antenna location. The conversion of the antenna ID to the location may, in some examples, be performed by a robot management system (e.g., 120, 2512). Examples will be appreciated wherein a system may comprise a combination of physical antennas comprising a corresponding physical antenna ID, and virtual antennas having a corresponding virtual antenna ID.

[0366] At 2606, a mobile robot may be caused to navigate to the location to perform a wireless scan. A mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform the wireless scanning. In some implementations, the performing of the wireless scanning may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scanning. The performing of the wireless scanning may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scanning, the processing circuitry may access the wireless scan data for processing. The mobile robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0367] It will be understood that various modifications may be made to process 2600 in accordance with the present disclosure.

[0368] In some embodiments, the wireless scan may be performed using the mobile robot, and the tag information may be determined based on the wireless scan.

[0369] In some embodiments, the scan request may be received using a low-level reader protocol (LLRP) interface. In some examples, tag information, determined based on the wireless scan using the LLRP interface, may be transmitted (e.g., to reader software at a warehouse management system). Transmission of the tag information may in some examples be performed by way of any suitable communications API or protocol as described in relation to FIG. 25.

[0370] In some embodiments, the scan request may further comprise a reader ID; and converting the antenna ID to the location comprises converting the reader ID and the antenna ID to the location. The reader ID may, in some examples correspond to system or device comprising one or more corresponding antennas. In some examples, an antenna system may comprise a plurality of physical antenna ports corresponding to a physical antenna at a location, the antenna system comprising a corresponding reader ID, and each physical antenna thereof comprising a corresponding antenna ID. In some examples, a robot management system, or one or more subsections thereof, may comprise one or more mobile antennas, such as autonomous flying robots as discussed herein. In such examples, the robot management system, or each subsection thereof, may comprise a corresponding reader ID, and each virtual antenna thereof may comprise a corresponding antenna ID. In some examples, a single antenna ID associated with a virtual antenna may be associated with a plurality of mobile antennas. For example, as described herein, more than one mobile antenna may be used to perform a wireless scan having any suitable detection field, such as using a combination of each detection field of the mobile antennas, or by performing a union or intersection operation thereon. In some such examples, the location may be a plurality of locations configured to be moved to by the plurality of mobile antennas. In such examples, at 2604 the antenna ID may be converted to a plurality of locations.

[0371] In some embodiments, the antenna ID may be converted to an orientation, wherein causing the mobile robot to navigate to the location to perform the wireless scan may comprise causing the mobile robot to navigate to the location and the orientation to perform the wireless scan. In some embodiments, the location may be a virtual antenna location as described herein, and may comprise an associated position and optionally an associated orientation configured to be achieved by a mobile antenna.

[0372] In some embodiments, the scan request may comprise a periodic trigger that indicates a plurality of times to perform the wireless scan. In some examples, causing the mobile robot to navigate to the location to perform the wireless scan may comprise causing one or more mobile robots to navigate to the location to perform a wireless scan at each of the plurality of times. In some embodiments, causing the one or more mobile robots to navigate to the location to perform the wireless scan at each of the plurality of times may comprise: causing a first mobile robot to navigate to the location to perform the wireless scan at a first time; and causing a second mobile robot to navigate to the location to perform the wireless scan at a second time.

[0373] In some embodiments, the scan request may comprise a plurality of antenna IDs. In some examples, the plurality of antenna IDs may be converted to a plurality of locations. In some examples, causing the mobile robot to navigate to the location to perform the wireless scan may comprise causing the mobile robot to navigate to each of the plurality of locations to perform a respective wireless scan. As such, a single mobile antenna may be used to perform wireless scans at a plurality of locations.

[0374] FIG. 27 shows an illustrative example process flow diagram depicting an iterative process 2700 for wireless scanning and / or image capturing in accordance with the present disclosure. A mobile robot 2702 may be configured for receiving instructions to perform a wireless scan at a location as described herein in relation to FIG. 3B, and may identify, from scan data one or more wireless tags. The instructions may comprise an indication of one or more tag identifiers (tag IDs) of wireless tags expected to be located at the location to be scanned, the mobile robot 2702 configured to store the expected tag IDs in a memory 2704 thereof. Based on the received instructions, the mobile robot 2702 moves to the corresponding location and performs a first wireless scan 2706 of the location 2708 comprising a plurality of inventory items or articles, each having a corresponding wireless tag 2710. The mobile robot 2702 may store wireless scan data obtained during the first wireless scan 2706 for processing, or may communicate the wireless scan data to a warehouse management system (e.g., 110, not shown). The wireless scan data may be processed locally on the mobile robot 2702 or in some examples comprising communicating the wireless scan data to the warehouse management system the wireless scan data may be processed by the warehouse management system.

[0375] At 2712, a decision step may be performed based on whether one or more of the expected tags were identified from the wireless scan data. In the event that the expected tags were identified, at 2714 the scan may be deemed complete and the mobile robot 2702 mayproceed to a further location, for example for performing a further wireless scan or for charging a battery thereof. In the event that one or more expected tags were not identified in the wireless scan data, the mobile robot 2702 may be configured to move to a different position and orientation relative to the location 2708 and inventory article tags 2710 therein, to perform a second wireless scan 2716 of the location 2708 and inventory article tags 2710 therein. As with the first wireless scan 2706, the mobile robot 2702 may store wireless scan data obtained during the second wireless scan 2716 for processing, or may communicate the wireless scan data to the warehouse management system. The wireless scan data may be processed locally on the mobile robot 2702 or communicated to the warehouse management system for processing.

[0376] At 2718, a decision step maybe performed based on whether one or more of the expected tags were identified from the wireless scan data of the second scan 2716 performed at the alternate pose. In the event that the expected tags were identified, at 2720 the scan may be deemed complete and the mobile robot 2702 may proceed to a further location, for example for performing a further wireless scan or for charging a battery thereof. In the event that one or more expected tags, were not identified in the wireless scan data, the mobile robot 2702 may be configured to move to a third position and orientation relative to the location 2708 and inventory article tags 2710 therein, to perform an image capture 2722 of the location 2708 and the inventory articles, using a camera thereof. The mobile robot 2702 may store the captured image data for processing, or may communicate the captured image data to the warehouse management system. The image data may be processed locally on the mobile robot 2702 or communicated to the warehouse management system for processing.

[0377] At 2724, a decision step maybe performed based on whether one or more inventory articles associated with the expected tags were identified from the image data of the image capture 2722 performed at the third pose. In the event that the inventory articles associated with the expected tags were identified, at 2726 the scan may be deemed complete and the mobile robot 2702 may proceed to a further location, for example for performing a further wireless scan or for charging a battery thereof. In the event that inventory articles associated with the expected tags were not identified in the image data, at 2728 the mobile robot 2702 may be configured to communicate a scan error to the warehouse management system.

[0378] It will be understood that various modifications may be made to process 2700 in accordance with the present disclosure. For example, the steps of the process 2700 may be performed in any suitable order.

[0379] FIG. 28 is a flow chart of an illustrative process 2800 for performing tag identification in accordance with some embodiments of the present disclosure, for example as described in relation to FIG. 27. In various embodiments, the individual steps of process 2800 may be implemented by one or more components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, 23, 25 or 27. Although the present disclosure may describe certain steps of process 2800 (and of other processes described herein) as being implemented by certain components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, 23, 25 or 27, this is for purposes of illustration only, and it should be understood that other components of the devices and systems of FIGS. 1-6, 8, 9A-10B, 13, 15, 17, 19, 20, 22, 23, 25 or 27 may implement those steps instead.

[0380] At 2802, a first wireless scan of an environment may be performed by a first mobile robot. The mobile robot may be any suitable robot such as those described herein, and may for example be an autonomous flying robot (e.g., robot 130). The first wireless scan may be performed in any suitable manner, for example in accordance with that described in relation to FIG. 3B.

[0381] At 2804, a first set of tags may be identified using the mobile robot, the identification based on the wireless scan. At 2806, it may be determined, using the mobile robot, whether a matching criterion is met based on the first set of tags. At 2808, additional information of the environment may be obtained using the mobile robot in response to determining the matching criterion is not met.

[0382] A mobile antenna (e.g., robot 130 or antenna 220 thereof) may be used to perform the wireless scanning. In some implementations, the performing of the wireless scanning may comprise storing, or transmitting for storage, of wireless scan data obtained from the wireless scanning. The performing of the wireless scanning may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the wireless scanning, the processing circuitry may access the wireless scan data for processing.

[0383] It will be understood that various modifications may be made to process 2800 in accordance with the present disclosure. For example, the steps of the process 2800 may be performed in any suitable order.

[0384] Referring to the example of FIG. 28, in some examples, obtaining the additional information of the environment, for example at 2808, may comprise: moving the mobile robot to a new location; performing, using the antenna at the new location, a second wirelessscan of the environment; and identifying, using the mobile robot, a second set of tags based on the wireless scan. In some embodiments, a union operation may be performed on the first set of tags and the second set of tags, by any suitable method such as described herein. In some examples, it may be further determined, using the mobile robot, whether the matching criterion is met based on the first set of tags and the second set of tags.

[0385] In some examples, obtaining the additional information of the environment, for example at 2808, may comprise: capturing, using a camera of the mobile robot, an image of the environment; and extracting visual information from the image. The camera of the mobile robot may be any suitable camera. In some implementations, the capturing of the image may comprise storing, or transmitting for storage, of the image. The capturing of the image may be in response to instructions received at a processing circuitry (e.g., 114, 124, and / or 214), for example from a warehouse management system (e.g., 110) such as by way of a robot management system (e.g., 120). Following the capturing (and optional storage) of the image, the processing circuitry may access the image for processing. Examples will also be appreciated wherein the camera is comprised as part of a different robot to the robot comprising the mobile antenna. The image may be captured at the same time instance as, or during, the performing of the wireless scan, but examples will be appreciated wherein the image may be captured at a different time instance to that at which the wireless scan is performed, for example by different robots.

[0386] In some examples, it is further determined, using the mobile robot, whether the matching criterion is met based on the first set of tags and the visual information. In some examples, in an iterative manner until the matching criterion is met or until a stopping criterion is met (e.g., a predetermined number of iterations is performed): additional information of the environment may be obtained; and it may be determined whether the matching criterion is met. In some examples, in response to determining the matching criterion is met, it may be indicated that a first scan request is complete and the mobile robot may be moved to a new location indicated in a second scan request. In some examples, the matching criterion may comprise a list of tags in the environment, a number of expected tags in the environment, or a range of expected tags in the environment.

[0387] The present disclosure may be practiced as a method or device adapted to practice the method. It is understood that the examples in this application are intended in an illustrative rather than in a limiting sense. In accordance with the present disclosure, limitations of current systems for validating inventory or determining whether an inventory item or article is at a location have been reduced or eliminated. While certain aspects of thepresent disclosure have been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the following claims. It will also be understood that the components of the present disclosure may comprise hardware components or a combination of hardware and software components. The hardware components may comprise any suitable tangible components that are structured or arranged to operate as described herein. Some of the hardware components may comprise processing circuity (e.g., a processor or a group of processors) to perform the operations described herein. The software components may comprise code recorded on tangible computer-readable medium. The processing circuitry may be configured by the software components to perform the described operations. It is therefore desired that the present embodiments be considered in all respects as illustrative and not restrictive.

Claims

96What is Claimed is:

1. A method comprising: receiving antenna position information indicating a position and antenna orientation information indicating an orientation for performing a wireless scan; moving, using at least one actuator, a mobile antenna to the position and the orientation based on the antenna position information and the antenna orientation information; and performing, using the mobile antenna, the wireless scan.

2. The method of claim 1, wherein: the mobile antenna is an autonomous flying machine; and the position comprises a three-dimensional position.

3. The method of claim 2, wherein: the position comprises a landing area; and the wireless scan is performed while the mobile antenna is at rest on the landing area.

4. The method of claim 1, wherein the orientation comprises a rotational orientation of the mobile antenna.

5. The method of claim 1, wherein performing the wireless scan comprises: transmitting a radio frequency identification (RFID) interrogation signal; and receiving a response signal from an RFID tag.

6. The method of claim 5, wherein: the RFID tag comprises a passive RFID tag; and the response signal comprises a reflected signal from the passive RFID tag.

7. The method of claim 1, wherein performing the wireless scan comprises: receiving a Bluetooth signal from an object.

8. The method of claim 1, further comprising: storing a plurality of poses, wherein:97 each pose has a corresponding identifier; a first pose of the plurality of poses comprises the position and the orientation; and receiving the antenna position information and the antenna orientation information comprises receiving the identifier corresponding to the first pose.

9. The method of claim 1, wherein: the antenna position information indicates a first position and a second position; the antenna orientation information indicates a first orientation and a second orientation; and performing the wireless scan comprises: performing a first wireless scan when the mobile antenna is in the first position and the first orientation; and performing a second wireless scan when the mobile antenna is in the second position and the second orientation.

10. The method of claim 9, further comprising: performing a union or intersection operation on results of the first wireless scan and the second wireless scan.

11. A mobile antenna comprising: at least one actuator configured to move the mobile antenna; an antenna; and processing circuitry configured to: receive antenna position information indicating a position and antenna orientation information indicating an orientation for performing a wireless scan; move, using the at least one actuator, the mobile antenna to the position and the orientation based on the antenna position information and the antenna orientation information; and perform, using the antenna, the wireless scan.

12. The mobile antenna of claim 11, wherein: the mobile antenna is an autonomous flying machine; and the position comprises a three-dimensional position.9813. The mobile antenna of claim 12, wherein: the position comprises a landing area; and the wireless scan is performed while the mobile antenna is at rest on the landing area.

14. The mobile antenna of claim 11, wherein the orientation comprises a rotational orientation of the antenna.

15. The mobile antenna of claim 11, wherein the processing circuitry is configured to perform the wireless scan by: transmitting a radio frequency identification (RFID) interrogation signal; and receiving a response signal from an RFID tag.

16. The mobile antenna of claim 15, wherein: the RFID tag comprises a passive RFID tag; and the response signal comprises a reflected signal from the passive RFID tag.

17. The mobile antenna of claim 11, wherein the processing circuitry is configured to perform the wireless scan by: receiving a Bluetooth signal from an object.

18. The mobile antenna of claim 11, wherein the processing circuitry is further configured to: store a plurality of poses, wherein: each pose has a corresponding identifier; a first pose of the plurality of poses comprises the position and the orientation; and receiving the antenna position information and the antenna orientation information comprises receiving the identifier corresponding to the first pose.

19. The mobile antenna of claim 11, wherein: the antenna position information indicates a first position and a second position; the antenna orientation information indicates a first orientation and a second orientation; and99 the processing circuitry is configured to perform the wireless scan by: performing a first wireless scan when the antenna is in the first position and the first orientation; and performing a second wireless scan when the antenna is in the second position and the second orientation.

20. The mobile antenna of claim 19, wherein the processing circuitry is further configured to: perform a union or intersection operation on results of the first wireless scan and the second wireless scan.

21. A method comprising: performing, using a mobile antenna at a first known position and a first known speed, a first wireless scan of a tag; determining first Doppler information based on the first wireless scan; performing, using the mobile antenna at a second known position and a second known speed, a second wireless scan of the tag; determining second Doppler information based on the second wireless scan; and determining a position of the tag based on the first and second known positions, the first and second known speeds, and the first and second Doppler information.

22. The method of claim 21, further comprising: determining, using a localization unit of the mobile antenna, a current position of the mobile antenna.

23. The method of claim 22, further comprising: moving, based on the current position and using at least one actuator, the mobile antenna along a trajectory, wherein the first and second wireless scans are performed along the trajectory.

24. The method of claim 21, further comprising: performing, using the mobile antenna at known positions and known speeds, at least three wireless scans of the tag, wherein the at least three wireless scans comprise the first and second wireless scans; and100 determining Doppler information for each of the at least three wireless scans, wherein: determining the position of the tag comprises determining a three-dimensional position of the tag based on the Doppler information for each of the at least three wireless scans.

25. The method of claim 24, wherein the known positions of the mobile antenna for the at least three wireless scans do not lie along a straight line.

26. The method of claim 21, further comprising: performing, using the mobile antenna, a plurality of wireless scans of the tag along a trajectory, wherein the plurality of wireless scans comprises the first and second wireless scans; and determining a sign change of a Doppler shift based on the plurality of wireless scans.

27. The method of claim 21, further comprising: performing, using the mobile antenna, a first plurality of wireless scans of the tag along a first trajectory, wherein the first plurality of wireless scans comprises the first and second wireless scans; determining a Doppler shift of each of the first plurality of wireless scans; performing, using the mobile antenna, a second plurality of wireless scans of the tag along a second trajectory different than the first trajectory; determining a Doppler shift of each of the second plurality of wireless scans; and determining a three-dimensional position of the tag based on the Doppler shifts of the first and second pluralities of wireless scans.

28. The method of claim 21, further comprising: determining a received signal strength indicator (RS SI) information based on the first and second wireless scans, wherein: determining the position of the tag is further based on the RSSI information.

29. The method of claim 21, further comprising: receiving a location information of the tag from a warehouse inventory system, wherein:101 determining the position of the tag is further based on the location information.

30. The method of claim 21, wherein performing the first and second wireless scans comprises: transmitting radio frequency identification (RFID) interrogation signals comprising an addressable identifier for the tag; and receiving response signals from the tag.

31. A mobile antenna comprising: an antenna; and processing circuitry configured to: perform, using the antenna, a first wireless scan of a tag with the mobile antenna at a first known position and a first known speed; determine first Doppler information based on the first wireless scan; perform, using the antenna, a second wireless scan of the tag with the mobile antenna at a second known position and a second known speed; determine second Doppler information based on the second wireless scan; and determine a position of the tag based on the first and second known positions, the first and second known speeds, and the first and second Doppler information.

32. The mobile antenna of claim 31, further comprising: a localization unit, wherein the processing circuitry is further configured to: determine, using the localization unit, a current position of the mobile antenna.

33. The mobile antenna of claim 32, further comprising: at least one actuator, wherein: the processing circuitry is further configured to move, based on the current position and using the at least one actuator, the mobile antenna along a trajectory; and the first and second wireless scans are performed along the trajectory.

34. The mobile antenna of claim 31, wherein the processing circuitry is further configured to:102 perform, using the antenna, at least three wireless scans of the tag with the mobile antenna at known positions and known speeds, wherein the at least three wireless scans comprise the first and second wireless scans; and determine Doppler information for each of the at least three wireless scans, wherein: the processing circuitry is configured to determine the position of the tag by determining a three-dimensional position of the tag based on the Doppler information for each of the at least three wireless scans.

35. The mobile antenna of claim 34, wherein the known positions of the mobile antenna for the at least three wireless scans do not lie along a straight line.

36. The mobile antenna of claim 31, wherein the processing circuitry is further configured to: perform, using the antenna, a plurality of wireless scans of the tag along a trajectory, wherein the plurality of wireless scans comprises the first and second wireless scans; and determine a sign change of a Doppler shift based on the plurality of wireless scans.

37. The mobile antenna of claim 31, wherein the processing circuitry is further configured to: perform, using the antenna, a first plurality of wireless scans of the tag along a first trajectory, wherein the first plurality of wireless scans comprises the first and second wireless scans; determine a Doppler shift of each of the first plurality of wireless scans; perform, using the antenna, a second plurality of wireless scans of the tag along a second trajectory different than the first trajectory; determine a Doppler shift of each of the second plurality of wireless scans; and determine a three-dimensional position of the tag based on the Doppler shifts of the first and second pluralities of wireless scans.

38. The mobile antenna of claim 31, wherein the processing circuitry is further configured to: determine a received signal strength indicator (RS SI) information based on the first and second wireless scans, wherein:103 the processing circuitry is configured to determining the position of the tag further based on the RS SI information.

39. The mobile antenna of claim 31, wherein the processing circuitry is further configured to: receive a location information of the tag from a warehouse inventory system, wherein: the processing circuitry is configured to determine the position of the tag further based on the location information.

40. The mobile antenna of claim 31, wherein the processing circuitry is configured to perform the first and second wireless scans by: transmitting radio frequency identification (RFID) interrogation signals comprising an addressable identifier for the tag; and receiving response signals from the tag.

41. A method comprising: capturing, using a mobile camera, an image of an inventory item; extracting visual information from the image; determining inventory information of the inventory item corresponding to the visual information; performing, using a mobile antenna, a wireless scan of the inventory item to identify one or more tags; comparing the one or more tags to the inventory information; and identifying an inventory mismatch based on the comparing.

42. The method of claim 41, wherein determining the inventory information of the inventory item comprises determining appearance information of the inventory item.

43. The method of claim 42, wherein: the appearance information indicates a number of boxes or a volume of the inventory item; the method further comprises determining an expected number of tags based on the appearance information, wherein the expected number comprises a number or a range; and104 determining the inventory mismatch when it is determined that the one or more tags is not consistent with the expected number of tags.

44. The method of claim 41, wherein: extracting the visual information from the image comprises identifying text or one or more barcodes associated with the inventory item; and determining the inventory information of the inventory item comprises retrieving the inventory information from a warehouse management system based on the text or one or more barcodes.

45. The method of claim 44, wherein: the inventory information indicates a plurality of tags associated with the inventory item; comparing the one or more tags to the inventory information comprises determining whether the plurality of tags includes the one or more tags.

46. The method of claim 45, wherein identifying the inventory mismatch comprises determining that the wireless scan did not identify one or more of the plurality of tags.

47. The method of claim 41, wherein: comparing the one or more tags to the inventory information comprises identifying one or more additional tags not included in the inventory information; and the method further comprises updating the inventory information to include the one or more additional tags.

48. The method of claim 41, wherein: comparing the one or more tags to the inventory information comprises: identifying missing and extra tags associated with the inventory information; and identifying complementary missing and extra tags associated with the one or more tags.

49. The method of claim 48, wherein:identifying the inventory mismatch comprises determining an incorrect labeling of the inventory item; and the incorrect labeling comprises one of an incorrect barcode label applied to the inventory item, an incorrect text on the inventory item, or an incorrect tag applied to the inventory item or an article thereof.

50. The method of claim 41, wherein: an autonomous flying robot comprises the mobile camera and the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the comparing and the identifying.

51. A mobile robot comprising: a camera; an antenna; and processing circuitry configured to: capture, using the camera, an image of an inventory item; extract visual information from the image; determine inventory information of the inventory item corresponding to the visual information; perform, using the antenna, a wireless scan of the inventory item to identify one or more tags; compare the one or more tags to the inventory information; and identify an inventory mismatch based on the comparison.

52. The mobile robot of claim 51, wherein the processing circuitry is configured to determine the inventory information of the inventory item by determining appearance information of the inventory item.

53. The mobile robot of claim 52, wherein: the appearance information indicates a number of boxes or a volume of the inventory item; the processing circuitry is further configured to determine an expected number of tags based on the appearance information; the expected number comprises a number or a range; andthe processing circuitry is configured to determine the inventory mismatch when it is determined that the one or more tags is not consistent with the expected number of tags.

54. The mobile robot of claim 51, wherein the processing circuitry is configured to: extract the visual information from the image by identifying text or one or more barcodes associated with the inventory item; and determine the inventory information of the inventory item by retrieving the inventory information from a warehouse management system based on the text or one or more barcodes.

55. The mobile robot of claim 54, wherein: the inventory information indicates a plurality of tags associated with the inventory item; and the processing circuitry is configured to compare the one or more tags to the inventory information by determining whether the plurality of tags includes the one or more tags.

56. The mobile robot of claim 55, wherein the processing circuitry is configured to identify the inventory mismatch by determining that the wireless scan did not identify one or more of the plurality of tags.

57. The mobile robot of claim 51, wherein: the processing circuitry is configured to compare the one or more tags to the inventory information by identifying one or more additional tags not included in the inventory information; and the processing circuitry is further configured to update the inventory information to include the one or more additional tags.

58. The mobile robot of claim 51, wherein the processing circuitry is configured to compare the one or more tags to the inventory information by: identifying missing and extra tags associated with the inventory information; and identifying complementary missing and extra tags associated with the one or more tags.10759. The mobile robot of claim 58, wherein: the processing circuitry is configured to identify the inventory mismatch by determining an incorrect labeling of the inventory item; and the incorrect labeling comprises one of an incorrect barcode label applied to the inventory item, an incorrect text on the inventory item, or an incorrect tag applied to the inventory item or an article thereof.

60. The mobile robot of claim 51, wherein the mobile robot is an autonomous flying robot.

61. A method comprising: performing, using a mobile antenna, a wireless scan of an environment; identifying a tag of an inventory item based on the wireless scan; capturing, using a mobile camera, an image of the environment; extracting visual information from the image; and determining a location of the tag based on the visual information.

62. The method of claim 61, further comprising: determining initial location information of the tag based on the wireless scan and a location of the mobile antenna.

63. The method of claim 62, wherein determining the location of the tag comprises: updating the initial location information based on the visual information.

64. The method of claim 61, wherein: extracting the visual information comprises determining whether inventory slots in the environment are empty or occupied based on the image; and determining the location of the tag comprising determining the location in one of the inventory slots that is occupied.

65. The method of claim 61, wherein: identifying the tag of the inventory item comprises identifying a tag number; and the method further comprises determining an article type based on the tag number.10866. The method of claim 65, further comprising: determining a location or region of the image that matches an appearance characteristic of the article type.

67. The method of claim 66, wherein the appearance characteristic comprises dimension information of the article type or color information of the article type.

68. The method of claim 61, wherein determining the location of the tag based on visual information comprises determining the location based on a location or region of the image that matches an appearance characteristic of the article type.

69. The method of claim 61, further comprising: capturing, using the mobile camera, a subsequent image of the environment; extracting subsequent visual information from the image; and determining whether the location of the tag changed based on the subsequent visual information.

70. The method of claim 61, wherein: an autonomous flying robot comprises the mobile camera and the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the identifying, the extracting, and the determining.

71. A mobile robot comprising: an antenna; a camera; and processing circuitry configured to: perform, using the antenna, a wireless scan of an environment; identify a tag of an inventory item based on the wireless scan; capture, using the camera, an image of the environment; extract visual information from the image; and determine a location of the tag based on the visual information.

72. The mobile robot of claim 71, wherein the processing circuitry is further configured to:109 determine initial location information of the tag based on the wireless scan and a location of the mobile robot.

73. The mobile robot of claim 72, wherein the processing circuitry is configured to determine the location of the tag by: updating the initial location information based on the visual information.

74. The mobile robot of claim 71, wherein the processing circuitry is configured to: extract the visual information by determining whether inventory slots in the environment are empty or occupied based on the image; and determine the location of the tag by determining the location in one of the inventory slots that is occupied.

75. The mobile robot of claim 71, wherein: the processing circuitry is configured to identify the tag of the inventory item by identifying a tag number; and the processing circuitry is further configured to determine an article type based on the tag number.

76. The mobile robot of claim 75, wherein the processing circuitry is further configured to: determine a location or region of the image that matches an appearance characteristic of the article type.

77. The mobile robot of claim 76, wherein the appearance characteristic comprises dimension information of the article type or color information of the article type.

78. The mobile robot of claim 71, wherein the processing circuitry is configured to determine the location of the tag based on visual information by determining the location based on a location or region of the image that matches an appearance characteristic of the article type.

79. The mobile robot of claim 71, wherein the processing circuitry is further configured to:110 capture, using the camera, a subsequent image of the environment; extract subsequent visual information from the image; and determine whether the location of the tag changed based on the subsequent visual information.

80. The mobile robot of claim 71, wherein the mobile robot is an autonomous flying robot.

81. A method comprising: storing inventory information about an inventory region, wherein the inventory information indicates tag information associated with the inventory region; selecting a scan parameter setting for wireless scanning of the inventory region based on the inventory information; and performing, using a mobile antenna, the wireless scanning of the inventory region using the scan parameter setting.

82. The method of claim 81, wherein the scan parameter setting is one of a Q value, a session type, a power level, a modulation-scheme, or a selective addressing setting.

83. The method of claim 81, wherein the inventory information indicates a density of tags or a number of tags in the inventory region.

84. The method of claim 81, wherein the scan parameter setting comprises a selective addressing setting that selects a subset of a plurality of tags in the inventory region for wireless scanning.

85. The method of claim 81 wherein: the scan parameter setting comprises a Q value; and when the inventory information indicates a large number of tags in the inventory region, the selected Q value is higher than when the inventory information indicates a small number of tags in the inventory region.

86. The method of claim 81, further comprising: receiving the inventory information from a warehouse management system.I l l87. The method of claim 81, further comprising: determining the inventory information based on a previous wireless scan of the inventory region.

88. The method of claim 81, wherein the inventory region is a subset of a larger inventory environment.

89. The method of claim 81, further comprising: determining a location of the mobile antenna using a wireless localization system; and determining the mobile antenna is in the inventory region based on the location.

90. The method of claim 81, wherein: an autonomous flying robot comprises the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the selecting and the performing.

91. A mobile antenna comprising: an antenna; memory configured to store inventory information about an inventory region, wherein the inventory information indicates tag information associated with the inventory region; and processing circuitry configured to: select a scan parameter setting for wireless scanning of the inventory region based on the inventory information; and perform, using the antenna, the wireless scanning of the inventory region using the scan parameter setting.

92. The mobile antenna of claim 91, wherein the scan parameter setting is one of a Q value, a session type, a power level, a modulation-scheme, or a selective addressing setting.

93. The mobile antenna of claim 91, wherein the inventory information indicates a density of tags or a number of tags in the inventory region.11294. The mobile antenna of claim 91, wherein the scan parameter setting comprises a selective addressing setting that selects a subset of a plurality of tags in the inventory region for wireless scanning.

95. The mobile antenna of claim 91 wherein: the scan parameter setting comprises a Q value; and when the inventory information indicates a large number of tags in the inventory region, the selected Q value is higher than when the inventory information indicates a small number of tags in the inventory region.

96. The mobile antenna of claim 91, wherein the processing circuitry is further configured to: receive the inventory information from a warehouse management system.

97. The mobile antenna of claim 91, wherein the processing circuitry is further configured to: determine the inventory information based on a previous wireless scan of the inventory region.

98. The mobile antenna of claim 91, wherein the inventory region is a subset of a larger inventory environment.

99. The mobile antenna of claim 91, wherein the processing circuitry is further configured to: determine a location of the mobile antenna using a wireless localization system; and determine the mobile antenna is in the inventory region based on the location.

100. The mobile antenna of claim 91, wherein the mobile antenna is an autonomous flying robot.

101. A method comprising: storing, for a plurality of inventory items, a plurality of localization states and location information;113 receiving, for a first inventory item of the plurality of inventory items, wireless scan information; determining updated location information for the first inventory item based on the wireless scan information; updating the localization state for the first inventory item based on the wireless scan information; and determining a wireless scanning priority of the first inventory item based on the updated localization state.

102. The method of claim 101, wherein the wireless scanning priority indicates whether to scan for the first inventory item.

103. The method of claim 101, wherein the wireless scanning priority indicates how often to perform a scanning pass to scan for the first inventory item.

104. The method of claim 101, wherein the wireless scanning priority indicates how many times to scan for the first inventory item during a scanning pass.

105. The method of claim 101, further comprising: updating the localization state for the first inventory item based on data received from a warehouse management system.

106. The method of claim 101, further comprising: updating the localization state for the first inventory item based on data received from a user.

107. The method of claim 101, wherein: the wireless scanning priority comprises one of a first wireless scanning priority, a second wireless scanning priority, and a third wireless scanning priority; the first wireless scanning priority causes more wireless scans to be performed for the first inventory item than the second wireless scanning priority; and the second wireless scanning priority causes more wireless scans to be performed for the first inventory item than the third wireless scanning priority.114108. The method of claim 101, wherein the localization state for the first inventory item indicates an accuracy or confidence in the location information for the first inventory item.

109. The method of claim 101, further comprising performing, using a mobile antenna, a wireless scan to obtain the wireless scan information.

110. The method of claim 109, wherein: an autonomous flying robot comprises the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the determining, the updating, and the determining.

111. A system comprising: memory configured to store, for a plurality of inventory items, a plurality of localization states and location information; and processing circuitry configured to: receive, for a first inventory item of the plurality of inventory items, wireless scan information; determine updated location information for the first inventory item based on the wireless scan information; update the localization state for the first inventory item based on the wireless scan information; and determine a wireless scanning priority of the first inventory item based on the updated localization state.

112. The system of claim 111, wherein the wireless scanning priority indicates whether to scan for the first inventory item.

113. The system of claim 111, wherein the wireless scanning priority indicates how often to perform a scanning pass to scan for the first inventory item.

114. The system of claim 111, wherein the wireless scanning priority indicates how many times to scan for the first inventory item during a scanning pass.

115. The system of claim 111, wherein the processing circuitry is further configured to:115 update the localization state for the first inventory item based on data received from a warehouse management system.

116. The system of claim 111, wherein the processing circuitry is further configured to: update the localization state for the first inventory item based on data received from a user.

117. The system of claim 111, wherein: the wireless scanning priority comprises one of a first wireless scanning priority, a second wireless scanning priority, and a third wireless scanning priority; the first wireless scanning priority causes more wireless scans to be performed for the first inventory item than the second wireless scanning priority; and the second wireless scanning priority causes more wireless scans to be performed for the first inventory item than the third wireless scanning priority.

118. The system of claim 111, wherein the localization state for the first inventory item indicates an accuracy or confidence in the location information for the first inventory item.

119. The system of claim 111, wherein the processing circuitry is further configured to: perform, using a mobile antenna, a wireless scan to obtain the wireless scan information.

120. The system of claim 119, wherein: an autonomous flying robot comprises the mobile antenna; and the autonomous flying robot comprises the processing circuitry configured to perform the determining, the updating, and the determining.

121. A method comprising: storing radio frequency (RF) signature information for an inventory item; performing, using a mobile antenna, a wireless scan of the inventory item; determining tag information based on the wireless scan; determining whether the tag information is within an expected range based on the RF signature information; and taking an action when the tag information is outside of the expected range.116122. The method of claim 121, wherein: determining the tag information comprises determining a number of tags identified from the wireless scan; and determining whether the tag information is within the expected range comprises determining whether the number of tags is less than a threshold number of tags.

123. The method of claim 122, wherein: the RF signature information indicates a plurality of tags for the inventory item; and the number of tags is the number of tags identified of the plurality of tags.

124. The method of claim 121, further comprising determining that one or more articles are missing when the tag information is below the expected range.

125. The method of claim 121, wherein: performing the wireless scan of the inventory item comprises receiving one or more response signals from one or more respective tags; and determining the tag information comprises determining signal strength based on the one or more response signals.

126. The method of claim 125, wherein: determining whether the tag information is within the expected range comprises comparing the signal strength to a signal strength threshold.

127. The method of claim 125, further comprising: determining that one or more articles associated with the inventory item are oriented differently than expected when the signal strength is not within the expected range.

128. The method of claim 121, wherein the RF signature information comprises, for the inventory item, pose information for a plurality of poses and corresponding RF information for each of the plurality of poses.

129. The method of claim 121, wherein taking the action comprises at least one of: flagging the inventory item for further evaluation;117 determining a different scan setting for a subsequent wireless scan; or capturing, using a camera, an image of the inventory item.

130. The method of claim 121, wherein: an autonomous flying robot comprises the mobile antenna; and the autonomous flying robot comprises processing circuitry configured to perform the determining the tag information, the determining whether the tag information is within the expected range, and the taking the action.

131. A mobile antenna comprising: memory configured to store radio frequency (RF) signature information for an inventory item; an antenna; and processing circuitry configured to: perform, using the antenna, a wireless scan of the inventory item; determine tag information based on the wireless scan; determine whether the tag information is within an expected range based on the RF signature information; and take an action when the tag information is outside of the expected range.

132. The mobile antenna of claim 131, wherein the processing circuitry is configured to: determine the tag information by determining a number of tags identified from the wireless scan; and determine whether the tag information is within the expected range by determining whether the number of tags is less than a threshold number of tags.

133. The mobile antenna of claim 132, wherein: the RF signature information indicates a plurality of tags for the inventory item; and the number of tags is the number of tags identified of the plurality of tags.

134. The mobile antenna of claim 131, wherein the processing circuitry is configured to determine that one or more articles are missing when the tag information is below the expected range.118135. The mobile antenna of claim 131, wherein the processing circuitry is configured to: perform the wireless scan of the inventory item by receiving one or more response signals from one or more respective tags; and determine the tag information by determining signal strength based on the one or more response signals.

136. The mobile antenna of claim 135, wherein the processing circuitry is configured to: determine whether the tag information is within the expected range by comparing the signal strength to a signal strength threshold.

137. The mobile antenna of claim 135, wherein the processing circuitry is further configured to: determine that one or more articles associated with the inventory item are oriented differently than expected when the signal strength is not within the expected range.

138. The mobile antenna of claim 131, wherein the RF signature information comprises, for the inventory item, pose information for a plurality of poses and corresponding RF information for each of the plurality of poses.

139. The mobile antenna of claim 131, wherein the processing circuitry is configured to take the action by at least one of: flagging the inventory item for further evaluation; determining a different scan setting for a subsequent wireless scan; or capturing, using a camera, an image of the inventory item.

140. The mobile antenna of claim 131, wherein the mobile antenna is an autonomous flying robot.

141. A method comprising: receiving a scan request comprising an antenna identification (ID) for an antenna; converting the antenna ID to a location; and causing a mobile robot to navigate to the location to perform a wireless scan.

142. The method of claim 141, further comprising:119 performing the wireless scan using the mobile robot; and determining tag information based on the wireless scan.

143. The method of claim 141, wherein: the scan request is received using a low-level reader protocol (LLRP) interface; and the method further comprises transmitting tag information determined based on the wireless scan using the LLRP interface.

144. The method of claim 141, wherein: the scan request is received from a warehouse management system; and the antenna ID is converted to the location using a robot management system.

145. The method of claim 141, wherein: the scan request further comprises a reader ID; and converting the antenna ID to the location comprises converting the reader ID and the antenna ID to the location.

146. The method of claim 141, further comprising: converting the antenna ID to an orientation, wherein causing the mobile robot to navigate to the location to perform the wireless scan comprises causing the mobile robot to navigate to the location and the orientation to perform the wireless scan.

147. The method of claim 141, wherein: the scan request comprises a periodic trigger that indicates a plurality of times to perform the wireless scan; and causing the mobile robot to navigate to the location to perform the wireless scan comprises causing one or more mobile robots to navigate to the location to perform a wireless scan at each of the plurality of times.

148. The method of claim 147, wherein causing the one or more mobile robots to navigate to the location to perform the wireless scan at each of the plurality of times comprises: causing a first mobile robot to navigate to the location to perform the wireless scan at a first time; and120 causing a second mobile robot to navigate to the location to perform the wireless scan at a second time.

149. The method of claim 141, wherein: the scan request comprises a plurality of antenna IDs; the method further comprises converting the plurality of antenna IDs to a plurality of locations; and causing the mobile robot to navigate to the location to perform the wireless scan comprises causing the mobile robot to navigate to each of the plurality of locations to perform a respective wireless scan.

150. The method of claim 141 wherein the mobile robot is an autonomous flying robot comprising the antenna.

151. A system comprising: communication circuitry configured to receive a scan request comprising an antenna identification (ID) for an antenna; and processing circuitry configured to: convert the antenna ID to a location; and cause a mobile robot to navigate to the location to perform a wireless scan.

152. The system of claim 151, further comprising: the mobile robot, wherein the mobile robot is configured to: perform the wireless scan; and determining tag information based on the wireless scan.

153. The system of claim 151, wherein: the scan request is received using a low-level reader protocol (LLRP) interface; and the communication circuitry is further configured to transmit tag information determined based on the wireless scan using the LLRP interface.

154. The system of claim 151, wherein: the scan request is received from a warehouse management system; and the antenna ID is converted to the location using a robot management system.121155. The system of claim 151, wherein: the scan request further comprises a reader ID; and the processing circuitry is configured to convert the antenna ID to the location by converting the reader ID and the antenna ID to the location.

156. The system of claim 151, wherein: the processing circuitry is further configured to converting the antenna ID to an orientation; and the processing circuitry is configured to cause the mobile robot to navigate to the location to perform the wireless scan by causing the mobile robot to navigate to the location and the orientation to perform the wireless scan.

157. The system of claim 151, wherein: the scan request comprises a periodic trigger that indicates a plurality of times to perform the wireless scan; and the processing circuitry is configured to cause the mobile robot to navigate to the location to perform the wireless scan by causing one or more mobile robots to navigate to the location to perform a wireless scan at each of the plurality of times.

158. The system of claim 157, wherein the processing circuitry is configured to cause the one or more mobile robots to navigate to the location to perform the wireless scan at each of the plurality of times by: causing a first mobile robot to navigate to the location to perform the wireless scan at a first time; and causing a second mobile robot to navigate to the location to perform the wireless scan at a second time.

159. The system of claim 151, wherein: the scan request comprises a plurality of antenna IDs; the processing circuitry is further configured to: convert the plurality of antenna IDs to a plurality of locations; and122 cause the mobile robot to navigate to the location to perform the wireless scan by causing the mobile robot to navigate to each of the plurality of locations to perform a respective wireless scan.

160. The system of claim 151 wherein the mobile robot is an autonomous flying robot comprising the antenna.

161. A method comprising: performing, using an antenna of a mobile robot, a first wireless scan of an environment; identifying, using the mobile robot, a first set of tags based on the first wireless scan; determining, using the mobile robot, whether a matching criterion is met based on the first set of tags; and in response to determining the matching criterion is not met, obtaining, using the mobile robot, additional information of the environment.

162. The method of claim 161, wherein obtaining the additional information of the environment comprises: moving the mobile robot to a new location; performing, using the antenna at the new location, a second wireless scan of the environment; and identifying, using the mobile robot, a second set of tags based on the second wireless scan.

163. The method of claim 162, further comprising: performing a union operation on the first set of tags and the second set of tags.

164. The method of claim 162, further comprising: determining, using the mobile robot, whether the matching criterion is met based on the first set of tags and the second set of tags.

165. The method of claim 161, wherein obtaining the additional information of the environment comprises: capturing, using a camera of the mobile robot, an image of the environment; and123 extracting visual information from the image.

166. The method of claim 165, further comprising: determining, using the mobile robot, whether the matching criterion is met based on the first set of tags and the visual information.

167. The method of claim 161, further comprising: iteratively obtaining additional information of the environment and determining whether the matching criterion is met until the matching criterion is met or until a stopping criterion is met.

168. The method of claim 161, further comprising: in response to determining the matching criterion is met, indicating that a first scan request is complete and moving the mobile robot to a new location indicated in a second scan request.

169. The method of claim 161, wherein the matching criterion comprises a list of tags in the environment, a number of expected tags in the environment, or a range of expected tags in the environment.

170. The method of claim 161, wherein the mobile robot is an autonomous flying robot.

171. A mobile robot comprising: an antenna; and processing circuitry configured to: perform, using the antenna, a first wireless scan of an environment; identify a first set of tags based on the first wireless scan; determine whether a matching criterion is met based on the first set of tags; and in response to determining the matching criterion is not met, obtain additional information of the environment.

172. The mobile robot of claim 171, wherein the processing circuitry is configured to obtain the additional information of the environment by:124 moving the mobile robot to a new location; performing, using the antenna at the new location, a second wireless scan of the environment; and identifying a second set of tags based on the second wireless scan.

173. The mobile robot of claim 172, wherein the processing circuitry is further configured to: perform a union operation on the first set of tags and the second set of tags.

174. The mobile robot of claim 172, wherein the processing circuitry is further configured to: determine whether the matching criterion is met based on the first set of tags and the second set of tags.

175. The mobile robot of claim 171, further comprising: a camera, wherein the processing circuitry is configured to obtain the additional information of the environment by: capturing, using the camera, an image of the environment; and extracting visual information from the image.

176. The mobile robot of claim 175, wherein the processing circuitry is configured to: determine whether the matching criterion is met based on the first set of tags and the visual information.

177. The mobile robot of claim 171, wherein the processing circuitry is configured to: iteratively obtain additional information of the environment and determine whether the matching criterion is met until the matching criterion is met or until a stopping criterion is met.

178. The mobile robot of claim 171, wherein the processing circuitry is configured to: in response to determining the matching criterion is met, indicate that a first scan request is complete and move the mobile robot to a new location indicated in a second scan request.125179. The mobile robot of claim 171, wherein the matching criterion comprises a list of tags in the environment, a number of expected tags in the environment, or a range of expected tags in the environment.

180. The mobile robot of claim 171, wherein the mobile robot is an autonomous flying robot.

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