A Comprehensive Overview and Characterization OfWireless Channels for Networked Robotic and Control Systems
This paper is to serve as a reference for researchers that are interested in the realistic modeling of wireless channels for the purpose of analysis and optimization of networked robotic systems. By utilizing the knowledge available in the wireless communication literature, the authors first summarize a probabilistic framework for the characterization of the underlying multi-scale dynamics of a wireless link. They furthermore confirm this framework with their robotic test-bed, by making an extensive number of channel measurements. To show the usefulness of this framework for networked robotic applications, they then discuss a few recent examples where this probabilistic channel characterization has been utilized for the theoretical analysis and communication-aware design of networked robotic systems.