The common characteristics of these experiments are as follows. A grid of 24 points was used, and this grid is sufficient to cover the surface of the simulated dangerous zone. The grid has been organized into 3 lines of 8 points each; the extreme part of the robot passes through these entry points with a linear trajectory perpendicular to the plane formed by the antenna.
The lines are separated by 60 mm distance, and cover the entire dangerous region. Passive RFID tags with lengths of 32 mm were embedded in a wristband. Experiments with both one and two tags were conducted. The orientation between the tags was changed to demonstrate one of the main drawbacks of the RFID reader, namely lack of multitag detection