An RFID system provides opportunistic locationing of RFID tags and associated assets in environments where multiple tags are read from multiple readers. A radio frequency identification (RFID) system includes one or more location triggers and a first RFID reader coupled to the network having a first antenna associated therewith. The first reader is configured to read a first set of tag IDs from a first set of RFID tags within a first range of the first antenna. A second RFID reader is coupled to the network and has a second antenna associated therewith. The second RFID reader is configured to read a second set of tag IDs from a second set of RFID tags within a second range of the second antenna. An RF switch is coupled to the network and is configured to receive the first set of tag IDs and the second set of tag IDs from the first RFID reader and the second RFID reader. The RF switch is configured to reconcile the location of an asset having a particular tag ID when the particular tag ID is an element of both the first set of tag IDs and the second set of tag IDs.