To Go or Not to Go: On Energy-aware and Communication-aware Robotic Operation

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Provided by: University of Calgary
Topic: Mobility
Format: PDF
The authors consider the scenario where a mobile robot needs to visit a number of Points Of Interest (POIs) in a workspace, gather their generated bits of information, and successfully transmit them to a remote station, while operating in a realistic communication environment, minimizing its total energy consumption (including both motion and communication costs), and under time and reception quality constraints. They are interested in the co-optimization of the communication and motion strategies of the robot such that it finds the optimal trajectory (the order in which it visits all the POIs) and optimally co-plans its communication and motion strategies, including motion speed, stop times, communication transmission rate and power.
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