A Communication Model to Decouple the Path Planning and Connectivity Optimization and Support Cooperative Sensing

Abstract

Abstract-When multiple mobile robots (e.g. robotic equipment and Unmanned Aerial Vehicles (UAVs)) are deployed to work cooperatively, it is usually difficult to jointly optimize the algorithms involving the following two aspects: finding optimal paths and maintaining reliable network connectivity. This is due to the fact that both these objectives require the manipulation of sensors' physical locations. We introduce a new relay-assisted communication model to decouple these two aspects so that each one can be optimized independently. However, using additional relay nodes is at the expense of an increased number of transmissions and reduced spectrum efficiency. Theoretical results based on mutual information and average data rate of the model reveal that such drawbacks can be compensated if the sensor nodes are arranged carefully into groups. Based on these results, we further propose a pairing strategy to maximize the spectrum efficiency gain. Simulation experiments have confirmed the performance of this strategy in terms of improved efficiency. We provide a simple example to demonstrate the application of this model in cooperative sensing scenarios where multiple UAVs are deployed to explore an unknown area.

Emerging UAV technology for disaster detection, mitigation, response, and preparedness

“…Luo et al (2014) discussed a communication system with some ground‐based terminals together with a network BS to establish communications with a UAV as relief between them. They developed an algorithm to optimize the relation between the ground bases and relay terminals.…”

Research on algorithm of information transmission path planning in big data environment

“…However, this method caused widespread concern of experts and scholars, which has become the focus of the industry research topic (Makki et al, 2016;Le et al, 2015). Luo et al (2014) proposed the information transmission path planning algorithm based on service quality. Zou et al (2014) proposed the information transmission path planning algorithm facing to the communication data.…”

Hybrid Demodulate-Forward Relay Protocol for Two-Way Relay Channels

“…In our recent project on developing UAVs to bridge communications between wireless users, such a model can be directly adopted [12], [13]. As the two source nodes can transmit signals simultaneously, an effective relaying protocol with high efficiency is critical to system capacity.…”

“…The TWRC model has extensive real-world instances, such as ground stations connected by satellites, two mobile users exchanging information through one common base station or relay, or sensors connected by a smart router, for example [9]- [11]. In our recent project on developing UAVs to bridge communications between wireless users, such a model can be directly adopted [12], [13].…”