Maintaining an accurate and close to real time inventory of items is crucial for an efficient Supply Chain Management (SCM), which is one of the main pillars of successful business decisions in the retail market. Due to theft and misplacement, perpetual inventory systems are not enough for having an accurate picture of the current inventory. However, even if the retailer has implemented an RFID-based solution, manual inventories using handheld RFID readers tend to be tedious, expensive and inaccurate. Therefore, a solution that can autonomously take inventories with high accuracy is expected to have a great impact in the market. One of the most promising possibilities of automatic inventories are inventory RFID-based robots. However, current inventory robots are not yet fully autonomous. This article proposes a fully autonomous solution for an inventory robot that, in addition, can be implemented in very simple robots reducing its cost and therefore its entrance barrier.

The article first defines the problem of stock counting and a solution based on a multi-robot system is proposed. The algorithm developed determines the state of the problem using the same RFID tags that retailers add to their items, so they can guide the robot through a complete stock counting task. Simulation and tests in a real environment, a university library, validate the developed algorithm and its application for multi-robot systems obtaining accuracy figures as high as 99.5% of accuracy.

保持准确和接近实时的物料库存对于有效的供应链管理（SCM）至关重要，而供应链管理是零售市场成功业务决策的主要支柱之一。由于失窃和放错地方，永续盘存系统不足以准确了解当前存货。但是，即使零售商已经实施了基于RFID的解决方案，使用手持RFID阅读器的手动库存也往往是乏味，昂贵和不准确的。因此，期望能够自动高精度地获取库存的解决方案将对市场产生重大影响。自动库存的最有前途的可能性之一是基于RFID的库存机器人。但是，当前的库存机器人还没有完全自治。

本文首先定义了库存盘点问题，并提出了一种基于多机器人系统的解决方案。开发的算法使用零售商添加到商品中的相同RFID标签确定问题的状态，因此他们可以指导机器人完成完整的盘点任务。在真实环境中的仿真和测试（一个大学图书馆）验证了开发的算法及其在多机器人系统中的应用，获得了高达99.5％的精度。