Abstract-Mobile robots, that wish to communicate wirelessly, often suffer from fading channels. They need to devise an energy efficient strategy to search for a high channel gain position in a near vicinity from which to begin communications. Such a strategy has recently been introduced through the Mobility Diversity with Multi-Threshold Algorithm (MDMTA). In this paper, we establish the theoretical framework for a generalized version of the MDMTA. This allows improved wireless communications in fading channels for mobile robots via intelligent robotic motion with low mechanical energy expenditure.

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Wireless communications is nowadays an important aspect of robotics. There are many applications in which a robot must move to a certain goal point while transmitting information through a wireless channel which depends on the particular trajectory chosen by the robot to reach the goal point. In this context, we develop a method to generate optimum trajectories which allow the robot to reach the goal point using little mechanical energy while transmitting as much data as possible. This is done by optimizing the trajectory (path and velocity profile) so that the robot consumes less energy while also offering good wireless channel conditions. We consider a realistic wireless channel model as well as a realistic dynamic model for the mobile robot (considered here to be a drone). Simulations results illustrate the merits of the proposed method.

This paper consists of two parts: an overview of existing open datasets of electricity consumption and a description of the Moroccan Buildings’ Electricity Consumption Dataset, a first of its kind, coined as MORED. The new dataset comprises electricity consumption data of various Moroccan premises. Unlike existing datasets, MORED provides three main data components: whole premises (WP) electricity consumption, individual load (IL) ground-truth consumption, and fully labeled IL signatures, from affluent and disadvantaged neighborhoods. The WP consumption data were acquired at low rates (1/5 or 1/10 samples/s) from 12 households; the IL ground-truth data were acquired at similar rates from five households for extended durations; and IL signature data were acquired at high and low rates (50 k and 4 samples/s) from 37 different residential and industrial loads. In addition, the dataset encompasses non-intrusive load monitoring (NILM) metadata.