Katariina Penttilä Lauri Sydänheimo Markku Kivikoski Performance Development of a High-speed Automatic Object Identification using Passive RFID Technology. 4864-4868 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1302488 db/conf/icra/icra2004-5.html#PenttilaSK04