University of New Haven
In this paper, the authors consider a team of mobile nodes that are in charge of cooperative target tracking. They propose communication-aware navigation functions that allow the nodes to perform their task while maintaining their connectivity to a fixed base station and avoiding obstacles. More specifically, they show how to incorporate measures of link qualities in the navigation functions. They consider both centralized and decentralized scenarios. They furthermore explore the impact of stochastic channels and channel estimation error on the overall performance.