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\subsection{First set of experiments}  For the initial setup the tags were arranged into a seven by seven square grid with the largest practical spacing for our testing area (25cm). The reader was configured to transmit its last perceived ID at regular intervals. The  robot was then sent to perform the predefined S-like motion from various starting positions and at various speeds (maximum speed at 75\% motor setting was about 0.33 m/s). Despite the wide spacing of the tags the S-like pattern could still be observed (fig*1) (fig*1). However, due to irregular friction of the floor the turning motion was not always consistent (fig*2). Lastly some manually controlled motions were performed to see how well the system could track them.