Communication and Path Planning Strategies of a Robotic Coverage Operation

Provided by: University Of California, San Diego (Calit2)
Topic: Mobility
Format: PDF
In this paper, the authors consider the scenario where a mobile robot is tasked with visiting a number of Points Of Interest (POIs) in a workspace, gathering their generated information bits, and finding a good spot for communication, in order to successfully transmit all the collected bits to a remote station. The goal of the robot is to minimize its total energy consumption, which includes both communication and motion energy costs, while operating in a realistic communication environment and under a given time budget.

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