## 1 Introduction
### Related Work  
[PERSON] et al. [1] presented a study where they dealt with published papers on radio frequency identification (RFID) applications from an academic database. The aim was to explore the topic's development trajectory and predict future development trends. They presented a forecast in their paper, based on some data analysis, where the size of the global RFID market is predicted at a 7.7% compound annual growth rate from 2017 to 2023 and that by 2023, the RFID market would be worth US $31.42 billion. RFID technology is widely used in many applications. There are many benefits to deploying RFID technology. [PERSON] et al. [1] presented a main conclusion for using RFID applications in supply chain management. \"Such applications enhance the operating time, reduce management costs and perceived risk, and eliminate idle time. Thus, in these RFID applications, multiple targets can be simultaneously and rapidly identified, and information storage advantages more favorable than those offered barcodes are provided.\"  
[PERSON] et al. [2] dealt with the problem of determining the location of pallets carried by forklifts inside a warehouse, which are recognized thanks to an onboard radio frequency identification system at the ultra-high-frequency band. By reconstructing the forklift trajectory and orientation, the location of the pallets can be associated with the forklift position at the time of unloading events. The products are organized in pallets, which are tagged with passive UHF-RFID tags that allow their identification. The forklift is equipped with a series of sensors that enable its self-localization thanks to an on-site processing unit. In particular, the smart forklift is equipped with a UWB tag, which receives the signal from a set of UWB (ultra-wideband) anchors installed on the warehouse ceiling. [PERSON] et al. [3] proposed a passive RFID-based indoor inventory localization method for small and medium-sized enterprises to effectively manage their indoor inventory tracking in terms of the multi-stacking racing. They presented a concept of reference tags and a calculation of measurement for the distance between the RFID reader and reference tag to improve the accuracy of the item location recognition. The main contribution of this paper is that it demonstrates how passive RFID can be used by SMEs (small and medium sized enterprises) to identify the location of the stock loaded in MSR (multi-stacking racing) as part of a low-cost WMS (warehouse management system). [PERSON] at al. [4] describes efforts to link RFID technology and UAVs (unmanned aerial vehicle) to automate warehousing and inventory processes in a specific agricultural environment. The experiments were performed in two phases, first in laboratory conditions and then directly in the field. During the experiment, they tested numerous different RFID tags from four directions at different heights of 1.5 m, 3 m, 4.5 m, 6 m and 7.6 m. When analyzing the results, they managed to identify a suitable combination of the used tag and direction and the given reading distance for a specific application. [PERSON] et al. [5] presented a paper describing the theoretical deployment of UAVs in the warehouse environment. Experts from practice who already have experience with the deployment of drones in the warehouse have compiled a risk assessment model. The model includes various events that may occur when deploying UAVs in warehouses and assesses their risks using fuzzy logic in the Matlab environment. [PERSON] et al. [6] provides an insight into the use of drones in the internal warehouse as an inventory tool. In their work they focus on the use of barcodes. They use two types of robots to move in the warehouse. The first is a ground robot that brings the UAV to a given location in the warehouse and then the UAV starts in the horizontal direction and reads the barcodes on the shelves. [PERSON] [7] presented an intelligent parking management system utilizing radio frequency identification (RFID).