{"id":{"repo_id":"cape-town","oai_identifier":"oai:open.uct.ac.za:11427/13281"},"canonical_url":"https://search.dev.ndltd.org/etd/cape-town/oai:open.uct.ac.za:11427/13281","repository":{"repo_id":"cape-town","name":"University of Cape Town","base_url":"https://open.uct.ac.za/oai/request"},"display":{"title":"Localisation and navigation in GPS-denied environments using RFID tags","abstract":"This dissertation addresses the autonomous localisation and navigation problem in the context of an underground mining environment. This kind of environment has little or no features as well as no access to GPS or stationary towers, which are usually used for navigation. In addition dust and debris may hinder optical methods for ranging. This study looks at the feasibility of using randomly distributed RFID tags to autonomously navigate in this environment. Clustering of observed tags are used for localisation, subsequently value iteration is used to navigate to a defined goal. Results are presented, concluding that it is feasible to localise and navigate using only RFID tags, in simulation. Localisation feasibility is also confirmed by experimental measurements.","abstract_html":"This dissertation addresses the autonomous localisation and navigation problem in the context of an underground mining environment. This kind of environment has little or no features as well as no access to GPS or stationary towers, which are usually used for navigation. In addition dust and debris may hinder optical methods for ranging. This study looks at the feasibility of using randomly distributed RFID tags to autonomously navigate in this environment. Clustering of observed tags are used for localisation, subsequently value iteration is used to navigate to a defined goal. Results are presented, concluding that it is feasible to localise and navigate using only RFID tags, in simulation. Localisation feasibility is also confirmed by experimental measurements.","abstract_has_math":false,"creators":["James, Sisa"],"institution":"Department of Mechanical Engineering","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Verrinder, Robyn A","Sabatta, Deon","Shahdi, Ali"],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014","date_published":"2014","updated_at":"2026-07-22T22:22:46Z","subjects":[],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/11427/13281","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Verrinder, Robyn A","Sabatta, Deon","Shahdi, Ali"]},{"key":"dc:creator","label":"Author","values":["James, Sisa"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2015-07-02T08:35:57Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2015-07-02T08:35:57Z"]},{"key":"dc:date.issued","label":"Date","values":["2014"]},{"key":"dc:publisher.department","label":"Dc Publisher Department","values":["Department of Mechanical Engineering"]},{"key":"dc:publisher.institution","label":"Dc Publisher Institution","values":["University of Cape Town"]},{"key":"dc:type","label":"Dc Type","values":["Master Thesis"]},{"key":"dc:type.qualificationlevel","label":"Dc Type Qualificationlevel","values":["Masters"]},{"key":"dc:type.qualificationname","label":"Dc Type Qualificationname","values":["MSc (Eng)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/11427/13281"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Includes bibliographical references."]},{"key":"dc:description.abstract","label":"Abstract","values":["This dissertation addresses the autonomous localisation and navigation problem in the context of an underground mining environment. This kind of environment has little or no features as well as no access to GPS or stationary towers, which are usually used for navigation. In addition dust and debris may hinder optical methods for ranging. This study looks at the feasibility of using randomly distributed RFID tags to autonomously navigate in this environment. Clustering of observed tags are used for localisation, subsequently value iteration is used to navigate to a defined goal. Results are presented, concluding that it is feasible to localise and navigate using only RFID tags, in simulation. Localisation feasibility is also confirmed by experimental measurements."]},{"key":"dc:title","label":"Title","values":["Localisation and navigation in GPS-denied environments using RFID tags"]}]}],"canonical_facts":{"dc:contributor.advisor":["Verrinder, Robyn A","Sabatta, Deon","Shahdi, Ali"],"dc:creator":["James, Sisa"],"dc:date.accessioned":["2015-07-02T08:35:57Z"],"dc:date.available":["2015-07-02T08:35:57Z"],"dc:date.issued":["2014"],"dc:description":["Includes bibliographical references."],"dc:description.abstract":["This dissertation addresses the autonomous localisation and navigation problem in the context of an underground mining environment. This kind of environment has little or no features as well as no access to GPS or stationary towers, which are usually used for navigation. In addition dust and debris may hinder optical methods for ranging. This study looks at the feasibility of using randomly distributed RFID tags to autonomously navigate in this environment. Clustering of observed tags are used for localisation, subsequently value iteration is used to navigate to a defined goal. Results are presented, concluding that it is feasible to localise and navigate using only RFID tags, in simulation. Localisation feasibility is also confirmed by experimental measurements."],"dc:identifier.uri":["http://hdl.handle.net/11427/13281"],"dc:language.iso":["eng"],"dc:publisher.department":["Department of Mechanical Engineering"],"dc:publisher.institution":["University of Cape Town"],"dc:title":["Localisation and navigation in GPS-denied environments using RFID tags"],"dc:type":["Master Thesis"],"dc:type.qualificationlevel":["Masters"],"dc:type.qualificationname":["MSc (Eng)"]},"updated_at":"2026-07-22T22:22:46Z"}