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The goal of this paper is to serve as a reference for researchers in robotics and control that are interested in realistic modeling, theoretical analysis and simulation of wireless links. To realize the full potentials of networked robotic systems, an integration of communication issues with motion planning/control is necessary. While considerable progress has been made in the area of networked robotic systems, communication channels are typically considered ideal or ideal within a certain radius of the transmitter, both considerable oversimplifications of wireless channels. It is the goal of this paper to provide a comprehensive overview of the key characteristics of wireless channels, as relevant to networked robotic operations.
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