Passive radio frequency identification tags comprising a simple antenna and a circuit with a unique frequency-dependent response, in place of an RF-powered integrated circuit with control logic, is disclosed. The unique frequency-dependence of the circuit, which may simply be a feature of the antenna, conveys the tags identification. Multiple frequency-dependent circuit RFID tags can be simultaneously identified and located in 3-D space through use of antenna arrays and sampling at multiple frequencies in order to provide spatial resolution.