Optimal Motion and Communication for Persistent Information Collection Using a Mobile Robot

In this paper, the authors study the problem of persistent information collection using a mobile robot. They consider the scenario where information bits are generated with certain rates at a given set of Points Of Interest (POIs) in a workspace. A mobile robot is then tasked with moving along a periodic trajectory, collecting the information bits from the POIs, and transmitting them to a fixed remote station over realistic fading communication channels. Assuming that the trajectory of the robot defines a Hamiltonian cycle on the POIs, they propose a novel Mixed-Integer Linear Program (MILP) to design the optimal trajectory of the robot as well as its motion (velocity profile) and communication (transmission power and rate profiles) along its trajectory.

Provided by: University of Calgary Topic: Mobility Date Added: Sep 2012 Format: PDF

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