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

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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.