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In dense RFID systems, efficient coordination of multiple readers is crucial to prevent reader-to-reader interference (RRI) and ensure optimal system performance. As the number of readers and tags increases, static frequency and time-slot assignment become insufficient to handle dynamic network conditions, leading to collisions, missed tag reads, and degraded throughput. In this paper, we propose a decentralized neigh-borhood discovery and management scheme for RFID systems operating in high-density environments. Our approach minimizes interference and improves tag read accuracy by dynamically adjusting communication parameters like frequency and time slots based on current system conditions, which are updated by periodic information exchanges among readers. Experimental results demonstrate that the proposed method significantly improves system scalability, throughput, and reliability. The proposed framework offers a scalable and adaptive solution for dense reader environments.