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Communication-aware motion control allows mobile networked robots to increase the average communication throughput. The authors exploit that in a multipath fading channel; robots can measure the SNR and adapt their motion to spend slightly more time at positions where the channel is good. Two new such cross-layer strategies are analyzed and evaluated: periodic stopping, where the stop duration is a function of the SNR, and controlled stopping, where the robot stops when the communication buffer is filling up.
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