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In this paper, the authors propose a communication-aware motion planning framework to ensure robust cooperative operation of a mobile network in realistic communication environments. They use a probabilistic multi-scale model for channel characterization. They, then utilize their previously proposed model-based channel prediction framework in order to devise communication-aware motion-planning approaches. They first propose a motion generation strategy that optimally plans the trajectory of the robot in order to improve its channel learning in an environment. They, then propose a communication-aware navigation approach in which link quality predictions are combined with sensing goals in order to ensure cooperative and networked task accomplishment.
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