Co-Optimization of Communication and Motion Planning of a Robotic Operation Under Resource Constraints and in Fading Environments

Provided by: Institute of Electrical & Electronic Engineers
Topic: Mobility
Format: PDF
The authors consider the scenario where a robot is tasked with sending a fixed number of given bits of information to a remote station, in a limited operation time, as it travels along a pre-defined trajectory, and while minimizing its motion and communication energy costs. They propose a co-optimization framework that allows the robot to plan its motion speed, transmission rate and stop time, based on its probabilistic prediction of the channel quality along the trajectory. They show that in order to save energy, the robot should move faster (slower) and send less (more) bits at the locations that have worse (better) predicted channel qualities.

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