Abstract: A method of tracking an inventory comprises associating a plurality of radio frequency identification (RFID) values corresponding to a plurality of RFID tags with an inventory item, affixing the plurality of RFID tags to a plurality of surfaces of the inventory item such that antenna axes of the plurality of RFID tags are oriented in a plurality of directions, wirelessly sensing RFID tags affixed to items in the inventory using an antenna array comprising one or more antennae, and deciding, if one or more of the plurality of RFID values associated with the inventory item is sensed, that the inventory item is present in the inventory, otherwise deciding that the inventory item is not present in the inventory.

Abstract: A mobile robot is disclosed. The mobile robot includes a housing. The mobile robot includes a memory module coupled to the housing. The memory module is configured to store an image file of at least one ink mark that is arbitrarily shaped and is human-imperceptible and that forms a landmark on a navigable route. The mobile robot includes a detector mounted to the housing. The detector is configured to detect ink marks marked on a surface. The mobile robot includes a confidence matching system coupled to the memory module and the detector. The confidence matching system is configured to determine whether a detected ink mark is a landmark based on a comparison of the detected ink mark with the stored image file of the at least one ink mark. The mobile robot includes a navigation system coupled to the confidence matching system configured to navigate the robot through an area including the navigable route based on recognition of the landmark.

Abstract: A method of tracking an inventory comprises associating a plurality of radio frequency identification (RFID) values corresponding to a plurality of RFID tags with an inventory item, affixing the plurality of RFID tags to a plurality of surfaces of the inventory item such that antenna axes of the plurality of RFID tags are oriented in a plurality of directions, wirelessly sensing RFID tags affixed to items in the inventory using an antenna array comprising one or more antennae, and deciding, if one or more of the plurality of RFID values associated with the inventory item is sensed, that the inventory item is present in the inventory, otherwise deciding that the inventory item is not present in the inventory.