Alexandria Engineering Journal (2018) 57, 3817–3823

H O S T E D BY
Alexandria University

Alexandria Engineering Journal

www.elsevier.com/locate/aej
www.sciencedirect.com

ORIGINAL ARTICLE

Warehouse inventory management system using

IoT and open source framework
B. Sai Subrahmanya Tejesh *, S. Neeraja

Dept. of ECE, SRK Institute of Technology, Enikepadu, Vijayawada, A.P., India

Received 29 April 2017; revised 4 February 2018; accepted 19 February 2018

Available online 27 November 2018

KEYWORDS Abstract In general, warehouses are used to store goods or products. In the Warehouses, if the
IoT; user wants to locate any product it is very difficult, because user have to do a detailed search man-
RFID; ually in all the available stockrooms this requires a lot of effort. So to avoid this problem the ware-
Warehouse inventory house inventory management system is very helpful because it maintains the detailed product
management system; information and tells us in which stockroom the product is present. The warehouse inventory man-
Wi-Fi module; agement system is playing a significant aspect in many productions and goods based methodology.
Open source hardware Though there are many wireless communication technologies the RFID suits the best for the ware-
house inventory management system. The tag information is transferred from the transmitter sec-
tion to open source hardware via a wireless link with the aid of internet. The warehouse inventory
management system built on the architecture of the Internet of Things is developed to track the
products attached to the tags with product information and their respective time stamps for further
verification. The Raspberry Pi acts as a central server, monitoring all the information. The total sys-
tem gives an archetype to correspond the information flow and material flow. The web page which
is built in accordance to provide convenient and an interface to the user to track the products. The
developed system results a very low cost system and works dynamically compared with the existing
present warehouse inventory management systems.
Ó 2018 Faculty of Engineering, Alexandria University. Production and hosting by Elsevier B.V. This is an
open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

1. Introduction accurately. Localization can be done in two ways Type-1 and

Type-2 [2]. IoT is a vision that permits individuals and things
Smart systems are playing a major role in industries, home, to be associated in a perfect world utilizing any path or any
colleges, and other native environments. In the smart systems, service [3]. The need or urge for this warehouse inventory man-
there is a linear growth in the localization concept, because agement system, it is very challenging to track, identify prod-
localization is playing a crucial role in contemporary life [1]. ucts or objects in big industries. To track any product in a
It is really challenging to locate any particular object precise span of time it is very difficult.
The section where goods or products are stored is called the
* Corresponding author.
Warehouse. The prime goal of the Warehouse is to control the
flow of products or items. The products must be managed cau-
E-mail address: [email protected] (B.S.S. Tejesh).
tiously otherwise it may affect on time, cost [4]. In the global-
Peer review under responsibility of Faculty of Engineering, Alexandria
University.
ization of industries, the warehouse inventory management

https://doi.org/10.1016/j.aej.2018.02.003
1110-0168 Ó 2018 Faculty of Engineering, Alexandria University. Production and hosting by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
3818 B. Sai Subrahmanya Tejesh, S. Neeraja

system has its own significance because of the profits it is per- The network becomes more sophisticated as the node rapidly
suading. Warehousing cites to the activities engaging in the rises [8]. The association of physical and virtual objects
storage of products on a huge scale in a precise way and through the process of data acquisition and communication
accomplishing their availability whenever required. The need competence. IoT facilitates sensor connection capability for
for a warehouse to store different types of products or goods the expansion of independent services and applications [9].
to maintain seasonal production, seasonal demand, quick sup- IoT is classified into three layers they are the perception layer
ply, continuous production, price stabilization [5]. The ware- or context-aware, network layer, Service layer [10]. In the per-
house inventory management system is a requisite approach ception layer, the data from the physical world are perceived
for every warehouse. A computerized warehousing system pro- and congregated with the usage of WSN, Sensors, RFID sys-
vides us less effort, more efficient and stable results are corre- tem. In the network layer, it enables transparent data transmis-
lated with hand held manual system. In Warehouse there may sion competence. It facilitates efficient, reliable transmission to
be many zones, those zones are also called as Stockrooms. the upper layer. The GSM, WSN, GPRS, Ethernet conveys the
Depending upon the demand of the products, more products data from the perception layer to the upper layer. In the service
have to be stored. So Warehouse requires more number of layer, it includes data management sublayer and application
stockrooms. The urge for automating the warehouses origi- sublayer. The data management sublayer contributes to pro-
nates from the fact that manual handling systems may lead cess complex data. The application sublayer facilitates the user
to human errors which may affect the warehouse utilization. with a good user interface for application such as logistics,
Identification mechanism relies on AIDC (Automatic iden- agricultural management, product management. The applica-
tification and data capture) technology. The traditional AIDC tion sublayer exhibits the routing of data with an ease from
technology is Barcode technology, which is operated by optical the source to destination. Localization, tracking, positioning
scanners to read labels. Barcodes are an immense advancement are some of the main applications for the RFID and IoT.
made over normal text labels because the staff is no longer Fig. 1 brief’s out the various emerging applications in the
essential to manually enter data into the system. The RFID scope of IoT. The Warehouse inventory management system
technology replaces the Barcode technology because barcode facilitates the user with the flow of products. So this system
scanners are high in cost, security is less. If the label damages can be needed wherever identification of location is needed.
the scanner cannot read the data [6]. The RFID tags have more
data capacity storage than Barcode. Based on many 2. Related work
researches, The RFID technology sustain to be significant
and efficient in identification system. RFID technology created There are many challenging aspects that warehouse inventory
an impact in the domain of Warehouses because it eliminates management system must consider because in the Real world
the risks in industries, efficiency is improved, products can the indoor native habitats are confined by the dimensions of
be tracked easily, with the involvement of Electronic product the zone. Accuracy illustrates us what is the fluctuation
code theft problems are also eliminated [7]. from the predicted location to the actual or original location.
Internet of Things can be easily employed with RFID, the Thus the accuracy of the system should be high, within a pre-
transfer of signals is based on radio communication. To reduce cise scope. The product tracking system is built accordingly, it
the interference by many radio waves, the appropriate RFID must work accurately even without direct line of sight. The
system design must be chosen. IoT nodes are ascendable. cost always needs to be taken care, because implementing

Fig. 1 Technology roadmap for internet of things.

Warehouse inventory management system 3819

the system for extensive consumer applications must not result

in high cost. In Real time, the system must deal with the track-
ing number of products so cost must be stabilized. Flexibility is
an important challenge because the developed system will be
given to distinct tracking items with a slight alteration. The
system should contribute its services to users, but must not dis-
rupt their everyday lives [10]. The system must be handy and
very comfortable for the user to use it, but many existing sys-
tems present the positioning result based on the coordinates of
the tracked product [11].
Fig. 2 The components of RFID system.
The objects can be identified in both indoor and outdoor
environments, the few following technologies that can be
adopted are discussed below. Coming to the point of outdoor infrared, ultrasonic, video camera, RFID. The RFID suits to
environments the GPS (Global positioning system) is well sui- be the best because it is low cost, robust can be easily inte-
ted for tracking the objects, but the GPS system is not suited grated into any field of application [15]. Fig. 2 serves as the
for tracking or locating the products in the Warehouse envi- representation of any basic RFID system. The RFID works
ronments because of its decreased accuracy and poor reception on the revelation of EM signals. The RFID system consists
of satellite signals in the indoor environments [12]. The object of a tag and reader, depending on our application the selection
that to be tracked is constructed on a virtual map based on the of tags can be made [16]. RFID technology is established on
latitudes and longitude position. GPS performance diminishes the perception of magnetic coupling, the assumption is that
if assured signal strength is unbiased with the system being current flowing in one circuit can generate a current flow in
deployed. The Inertia navigation system (INS) is utilized for another circuit via a magnetic field developed in the slot
locating and tracking of objects, but this system is applicable between the circuits [17]. The RFID tags can be easily identi-
only in outdoor environments [13,14]. Sensors are the devices fied based on the unique identification number by the RFID
that detect a signal and tell the system about the received sig- reader, that is why the RFID is majorly used in the identifica-
nal. The INS system is restricted because of their high cost, the tion and tracking scheme [18]. The RFID tags are mainly por-
system is unreliable and has lower working range. The Blue- tioned into three sections they are active tags, passive tags and
tooth has a variable read range and it is capable of ranging semi-passive tags [19]. Among all the above-mentioned tags,
in terms of 1 m/10 m/50 m. The cost of the Bluetooth system the passive tags play a vital role in many applications because
hikes if more range is required. The main drawback of the of its low size, low power consumption, low cost, no interfer-
Bluetooth system is it has confined number of 7 slaves [13–15]. ence problem, it can work in harsh environments [20]. The cir-
The Infrared system has an efficiency range of 5–10 m. The cuit in the passive tag is precisely powered by the carrier signal
infrared system is low-priced, compact, low power consump- from the reader. The passive tags get activated when they pass
tion. In Real-time warehouse working scenarios they are sus- through the electromagnetic zone. The Active and Semi-
ceptible to light sources and also require an acceptable line of passive tags contain their own battery and they are larger in
sight for the devices to get communicated. The fundamental size and are difficult to handle. Depending on the type and
of infrared positioning is that the IR modulated infrared beam need the tags are applied in a specific application [21]. Though
of light is analyzed by applying the optical transducer hooked there are many applications for RFID, applying RFID for the
up to the indoor positioning receiver. In the Ultrasonic system, warehouse inventory tracking best suits for the application
the distance of the object to be tracked is calculated by using the [22]. The RFID has various applications such as location iden-
echoes. The cost of this system implementation is very high tification of people, medical assets in trauma centers, distin-
because the Ultrasonic transceivers must be installed through- guishing between products in warehouses based upon the
out the surroundings. This system may cause health effects, tags adhered to them [23,24]. Hence the RFID technology suits
both the transmitter and receiver section must have a line of best for tracking and positioning objects uniquely.
sight, it requires a huge setup and maintenance of the system
is very challenging. The GNSS can be working for both out- 3. 3.Hardware modules used for the system implementation
door and indoor environments. It is also similar to Global
positioning system as the signals get degraded, to overcome
Fig. 3 represents the block diagram of the implemented system
this problem, it is recommended to use High resistive GNSS
and the elaborated description of the modules used are dis-
[13–15]. The active bat is a different Ultrasonic positioning sys-
cussed below.
tem, they require active bat tags that are mobile which transmit
an ultrasonic pulse to fixed ultrasonic receivers mounted on the
3.1. RFID system
ceiling. This system has health effects, and the maintenance of
the system is very high. The locato system is a radio based posi-
tioning system, mostly suitable where enough satellite signals The Warehouse inventory management system is one of the
are received. This system has a transceiver unit called localatile application of RFID technology, because RFID can uniquely
and standalone receiver called as locato. To form a network, identify products or goods attached with tags. The RFID
the system requires a minimum of four localities. The drawback reader em-18 used to read 125 kHz tags. The RFID reader
of this system is it has low elevation angles and interference of operates at a voltage of 5 V. The Reader has two fundamental
different signals in the atmospheric layer. objectives: initially reader to transmit a carrier signal, and the
RFID stands for Radio Frequency Identification. Among subsequent is to receive a response from any tags in the prox-
the wireless communication technologies like Bluetooth, imity of the reader. The RFID reader emits a short range radio
3820 B. Sai Subrahmanya Tejesh, S. Neeraja

Fig. 3 Block diagram of the experimental setup.

signal which is picked by a RFID tag and the tag is triggered mode, AP mode. For simplicity, the Nodemcu is programmed
on. The two RFID readers em-18 is attached at the beginning in the STA mode.
of the stockroom 1 and stockroom 2 to read the tags. The
RFID em-18 works on UART. The em-18 RFID reader is 3.4. Raspberry Pi 3
interfaced to NodeMcu ESP8266 and is programmed by using
Arduino IDE. The passive tags are adhered to the products or Here at this Warehouse inventory management System, the
goods to uniquely identify them. As soon as the RFID reader Raspberry Pi 3 plays a vital role because it is the main agent
scans the tag, then the tag transmits back a short string of which maintains all the products or goods details in the data-
data. The passive tags 125 kHz are more beneficiary over base. The data from stockrooms is received in the Raspberry
active and semi-passive tags because of its low cost, low power Pi 3 with the help of ESP8266 attached to it. The user in the
consumption, no interference effect. The unique ID of the tag search field types the tag number and the tag number is queried
contains 12 bytes of data 0D0021A8D256. The last two digits from the database. The Raspberry Pi 3 here also acts as a web
indicate the checksum which is the result of XOR operation of server. The Raspberry Pi 3 is programmed with the Python
first ten bytes. The data scanned by the reader is used to language. The Raspberry Pi 3 functions at 5 V. Raspbian is
decode the encoded data in the tag’s IC and the data is sent the Linux-based operating system which is running on Rasp-
to the Raspberry Pi 3 central server via NodeMcu ESP8266. berry Pi 3.

3.2. ESP8266-01 Wi-Fi module 4. System implementation methodology

The ESP8266-01 is a serial device, a low-cost module with full The implemented methodology is for efficient production and
stacks TCP/UDP it gives any microcontroller the Wi-Fi facil- goods identification in warehouses. The fundamental need for
ity. The Esp8266-01 Wi-Fi module is interfaced with Rasp- the warehouse is to store different types of products. The
berry Pi 3. All the Esp8266 are connected to common Wi-Fi developed system is used efficiently to monitor the mobility
Access point and data is transferred within them with the sup- and storage of products. Among the various mentioned posi-
port of internet. Suppose the data collected from RFID reader tioning technologies RFID technology seems to be the most
attached at stockroom 2 is collected by NodeMcu and with the desirable candidate for tracking because of its low cost, robust-
help of Wi-Fi module Esp8266-12e present in it, from the ness, flexibility. RFID can successfully integrate with the Inter-
transmitter section the data is sent to the Esp8266-01 that is net of Things. Fig. 4 exhibits the transmitter node and Fig. 5
attached to the receiving section of the Raspberry Pi 3 and exhibits the receiver node. Hence Figs. 4 and 5 depict the hard-
hence the data is arranged in tables in the web server. ware experimental setup of the implemented system.
Here in the implementation of the Warehouse inventory
3.3. NodeMcu ESP8266-12e Wi-Fi development board management system, It comprises of two stockrooms that
are stockroom 1 and stockroom 2. To demonstrate the system,
NodeMcu is an open source IOT platform with a deployed there is a need for two transmitter sections and one receiver
ESP8266-12e Wi-Fi module in it. It supports USB micro port section which acts as a central server. Each RFID tag has a
for programming the NodeMcu. The em-18 module is inter- unique, Identification number, RFID reader has an address.
faced with the NodeMcu ESp8266, the data from the em-18 The passive tags are preferred because they are having less
RFID reader is sent to the NodeMcu. It works on an operating interference effect, maintenance cost is less and flexible because
voltage of 5 V, but the ESP8266-12e module requires 3.3 V for it can adhere to any physical object in the real world. In this
that purpose all the required circuitry for the voltage conver- system, passive tags have adhered to the products or goods.
sion are held in the NodeMcu board. The NodeMcu can be The two transmitter section’s used here resembles stockroom
programmed with the Arduino IDE and the AT commands 1 and stockroom 2. The two transmitter sections are built
can be easily integrated which makes coding simpler. The using RFID reader em-18, NodeMcu ESP8266 Wi-Fi develop-
NodeMcu can be programmed in two modes that is STA ment module. Every transmitter section has its own RFID
Warehouse inventory management system 3821

The Raspberry Pi 3 is programmed in such a manner so

that the accumulated information is set in the format of rows
and columns are displayed to the User person with the aid of
the user-friendly web pages. In the web server first, the central
person must authorize to enter into the web page. On the web
page, the details like tag number, product description, stock-
room number, location, Time details are stored in the database
and displayed to the user in the table format. So if the user
wants to know in which stockroom the specified product is
there, the user gently types the product tag number and the
detailed information is fetched from the database and dis-
played in the web page with the help of user interface.
Suppose if the user wants to search a tag number
0D0021A8D256, the user gently types the tag number in the
search field all the required information regarding the product
and the product time stamps that is attached to the tag are dis-
played in the web page by fetching the data from the web ser-
ver. The developed Warehouse inventory management system
Fig. 4 Transmitting nodes of stockroom 1 and stockroom 2.
is very efficient, it can perform dynamic data Updation and
Real Time search operations from the database. Thus the
implementation of RFID System of this proposed methodol-
ogy is not bounded to prototype or laboratory setup, but
can also work efficiently in Real world application. The total
implementation cost of the developed warehouse inventory
management system is very low compared with the present
existing models in the marketplace.

5. Result and analysis

The product information from the hardware setup arranged at

Stockroom 1 and Stockroom 2 is collected in the Raspberry Pi
3 central server and arranged in the form of rows and columns
to visualize the Tag number, product description, Stockroom
Number, Location and the time stamps of the product on
the web page. Instantly as the user scans the specified tag, then
all the information on the tag is updated in the database on the
web server and is displayed on the web page. Fig. 6 represents
the tag numbered 0D0021B13AA7 is being read by the RFID
Fig. 5 Receiving node of the implemented system. reader and that tag information is transferred to the NodeMcu
for processing and Finally sent to the central server.
Fig. 7 depicts the collected data or information from the
two stockroom’s and it also provides users the facility to
Reader em-18 and NodeMcu ESP8266-12e. The data from the
search specific product by typing its tag number on the web
transmitter section’s that is from stockroom 1 and stockroom
2 are sent to the Raspberry Pi 3 which is acting as a central ser-
ver via a wireless link with the help of ESP8266-01 a very low-
cost Wi-Fi module. Every stockroom will be arranged with the
discussed experimental setup. As soon as the RFID reader em-
18 scans the passive RFID tags that are in its range, with the
help of NodeMcu ESP8266-12e Wi-Fi development module
the tag details are collected and as the NodeMcu is pro-
grammed in the Station mode so that the NodeMcu
ESP8266-12e module can connect to any local/home Wi-Fi.
The NodeMcu ESP8266 has a deployed ESP8266-12e module
in it. In the central server receiver section, the system is devel-
oped using ESP8266-01 Wi-Fi module and Raspberry Pi 3.
The ESP8266-12e module on NodeMcu and the ESP8266-
01interfaced with Raspberry Pi 3, all the ESP8266 modules
connect to common Wi-Fi access point to communicate the
data between them. The data from the stockrooms is gathered
in the Raspberry Pi 3 with the help of an ESP8266-01 Wi-Fi
module. Fig. 6 RFID tags data is reading by the RFID reader.
3822 B. Sai Subrahmanya Tejesh, S. Neeraja

Fig. 7 Product information displayed on the web page.

Fig. 8 Tag numbered 0D0021A8D256 displays the specified results of it on the web page with the search field provided.

page. The information on the web page illustrates that the tag Time search operations from the database with the help of a
numbered 0D0021B13AA7 updated on the web server symbol- web server. Thus the implementation of RFID System of this
izes as product number 4 with a cost of Rs. 400, present in proposed methodology is not bounded to prototype or labora-
Stockroom Number 1 and its time stamps. tory setup, but can also work efficiently in Real world applica-
Fig. 8 depicts the detailed information about the product tion. The total implementation cost of the developed
with the attached tag number 0D0021A8D256. If the user warehouse inventory management system is very low com-
wants to know about the detailed information about tag num- pared with the present existing models in the marketplace.
bered 0D0021A8D256 then with the facility of the search field With the implementation of user-friendly user interface the
the user types the tag number 0D0021A8D256 in it. If the tag users can easily spot the tracked product in the Warehouse
number matches in the web server then the data is fetched from without much effort. In future, this innovation can be used
the database. So that user can easily find the product details, in several areas in different applications and many enhance-
the stockroom number in which the product is stored and also ments can be done so that it can be made available to all the
the time stamps of the product with the help of search field sectors.
provided. The search field is provided for real time search to
query data from the database.
Acknowledgement
6. Conclusion
This research was supported by Mr. K. Sripath Roy and ESSN
research group at KL University. I thank the Institute for
The developed Warehouse inventory management system is providing the constant support for this research from the
very efficient, it can perform dynamic data Updation and Real expertise
Warehouse inventory management system 3823

References [13] R. Mautz, The challenges of indoor environments and

specification of some alternative positioning systems, in: Proc.
[1] S.M. Huynh, D. Parry, A. Fong, J. Tang, Home localization 6th Workshop on Positioning, Navigation and Communication,
system for misplaced objects, in: Proc. IEEE International 2009, pp. 29–36.
Conference on Consumer Electronics, 2014, pp. 462–463. [14] R. Tesoriero, J.A. Gallud, M.D. Lozano, V.M.R. Penichet,
[2] Son Minh Huynh, David Parry, A.C.M. Fong, Novel RFID and Tracking autonomous entities using RFID technology, IEEE
ontology based home localization system for misplaced objects, Trans. Consumer Electron. 55 (2009) 650–655.
IEEE Trans. Consum. Electron. 60 (3) (2014). [15] L.M. Ni, Y. Liu, Y.C. Lau, A.P. Patil, LANDMARC: indoor
[3] Y.X. Lu, T.B. Chen, Y. Meng, Evolution guideline system and location sensing using active RFID, Wireless Netw. 10 (2004)
intelligent evaluation process on the Internet of things, Am. J. 701–710.
Eng. Technol. Res. 11 (9) (2011) 537–541. [16] D. Fortin-Simard, K. Bouchard, S. Gaboury, B. Bouchard, A.
[4] A. Ramaa, K.N. Subramanya, T.M. Rangaswamy, Impact of Bouzouane, Accurate passive RFID localization system for
warehouse inventory management system in a supply chain, Int. smart homes, in: Proc. IEEE 3rd International Conference on
J. Comput. Appl. 54 (6) (2012) (0975-8887). Networked Embedded Systems for Every Application, 2012, pp.
[5] M. Bruccoleri, S. Cannella, G. La Porta, Inventory record 1–8.
inaccuracy in supply chains: the role of workers’ behavior, Int. J. [17] J. Ziegler, M. Graube, L. Urbas, RFID as universal entry point
Phys. Distribution Logistics Manage. 44 (10) (2014) pp. to linked data clouds, in: Proc. IEEE International Conference
[6] N. Wartha, V. Londhe, Context-aware approach for enhancing on RFIDTechnologies and Applications, 2012, pp. 281–286.
security and privacy of RFID, Int. J. Eng. Comput. Sci. 4 [18] N. Fallah, I. Apostolopoulos, K. Bekris, E. Folmer, Indoor
(2015), pp. 10,078-88. human navigation systems: a survey, Interact. Comput. 25
[7] Samer S. Saab, Zahi S. Nakad, A standalone RFID indoor (2013) 21–33.
positioning system using passive tags, IEEE Trans. Ind. [19] R. Tesoriero, J. Gallud, M. Lozano, V. Penichet, Using active
Electron. 58 (5) (2011). and passive RFID technology to support indoor location-aware
[8] J. Gubbi, R. Buyya, S. Marusic, M. Palaniswami, Internet of systems, IEEE Trans. Consum. Electron. 54 (2008) 578–583.
things (IoT): a vision architectural elements and future [20] K. Domdouzis, B. Kumar, C. Anumba, Radio-frequency
directions, Future Gener. Comput. Syst. 29 (7) (Sep. 2013) identification (RFID) applications: a brief introduction, Adv.
1645–1660. Eng. Inf. 21 (2007) 350–355.
[9] K. Stravoskoufos et al, IoT-A and FIWARE: bridging the [21] R. Want, An introduction to RFID technology, IEEE Pervasive
barriers between the cloud and IoT systems design and Comput. 5 (2006) 25–33.
implementation, in: Proc. 6th Int’l Conf. Cloud Computing [22] P. Solic, J. Radic, N. Rozic, Software defined radio based
and Services Science (CLOSER 2016), 2016, pp. 146–153. implementation of RFID tag in next generation mobiles, IEEE
[10] D. Bandyopadhyay, J. Sen, Internet of things: applications and Trans. Consumer Electron. 58 (2012) 1051–1055.
challenges in technology and standardization, Wireless Pers. [23] P. Karthika, J. Harriet Rathna Priya, A. Rathinavel Pandian,
Commun. 58 (1) (2011) 49–69. Indoor location tracking system using RFID technology, Int. J.
[11] P. Yang, PRLS-INVES: a general experimental investigation Eng. Res. Rev. 3 (1) (2015) 73–80.
strategy for high accuracy and precision in passive RFID [24] M. Gireesh Kumar, K. Sripath Roy, Zigbee based indoor
location systems, IEEE Internet Things J. 2 (2) (2015) 159–167. campus inventory tracking using RFID module, Int. J. Eng.
[12] A. Ibrahim, D. Ibrahim, Real-time GPS based outdoor WiFi Res. Appl. (IJERA) 4 (7(1)) (2014) 132, ISSN 2248-9622.
localization system with map display, Adv. Eng. Softw. 41
(2010) 1080–1086.