Radio-frequency systems and methods for co-localization of multiple devices and/or people

A method performed by a controller part of a system, the system comprising:

• (i) the controller, (ii) a plurality of target devices comprising at least a first target device for coupling to a movable platform configured to support an object with respect to which a robotic arm is to perform a task, and (iii) an interrogator system comprising a plurality of RF antennas, each of the plurality of RF antennas being configured to transmit RF signals to the plurality of target devices and/or receive RF signals from the plurality of target devices, the method comprising:
• when at least the first target device is coupled to the movable platform, using the controller to perform:
• controlling at least one of the plurality of RF antennas to transmit one or more first RF signals to at least the first target device;
• controlling at least some of the plurality of RF antennas to receive second RF signals from at least the first target device;
• determining a position of the movable platform using the received second RF signals;
• and
• determining, using the position of the movable platform, a target position to which to move an end effector of the robotic arm in order to perform the task with respect to the object.

A system, comprising:

• a plurality of target devices, each of the plurality of target devices configured to transmit and receive radio-frequency (RF) signals, the plurality of target devices comprising:
• at least a first target device for coupling to a person;
• and
• at least a second target device for coupling to machinery;
• an interrogator system comprising a plurality of RF antennas, each of the plurality of RF antennas being configured to transmit RF signals to the plurality of target devices and/or receive RF signals from the plurality of target devices;
• and
• a controller configured to, when at least the first target device is coupled to the person and at least the second target device is coupled to the machinery:
• control at least one of the plurality of RF antennas to transmit first RF signals;
• control at least some of the plurality of RF antennas to receive second RF signals from at least the first target device and at least the second target device;
• determine a first position of the person using the received second RF signals;
• determine a second position of the machinery using the received second RF signals;
• and
• determine whether the person is positioned within an operating volume of the machinery using the first position and the second position.