Communication-Aware Energy Efficient Trajectory Planning With Limited Channel Knowledge

Abstract

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.

A Nonlinear Subspace Approach for Parametric Estimation of PDFs From Short Data Records With Application to Rayleigh Fading

“…According to the LaSalle invariance principle, the dynamical system (5) will converge to the minimum invariance set (Ω). To compute this set, first the set (∆) of ξ for which system (5) is at equilibrium needs to be computed (14) For the Rayleigh distribution, the following approximation may be used…”

“…Communication-aware mobility is an important and fairly recent area in wireless communication [13,14,15] that requires on-line characterization of the PDF describing a wireless channel. In this area, a scout, first responder mobile agent that is equipped with a Tx/Rx antenna is required to access a confined highly cluttered space and wirelessly relay sensory data to a base station.…”

Joint Communication–Motion Planning in Networked Robotic Systems

“…There is an increasing interest in integrating autonomous robots into wireless communication networks [3][4][5][6][7][8][9][10][11][12][13], which is the method in which the robot utilizes its own degrees of freedom (mostly transmission power and mobility) to improve the communication quality of the system. For example, refs.…”

“…[3][4][5][6][7]11,12] all improve the communication quality through the location of mobile communication equipment, while most of the remaining research is through the joint optimization of transmission power and location. In terms of optimization objectives, some research takes traditional communication performance indicators as optimization objectives, such as minimizing the total energy consumption [4,5,11,13], bandwidth usage [9], communication rate [10], etc. There are also a few studies that use some novel indicators, such as maximizing the throughput guarantees to the video streaming [7].…”

Broadcast Event-Triggered Control Scheme for Multi-Agent Rendezvous Problem in a Mixed Communication Environment

“…Not only could this save communication resources, it could also save energy. As the multi-agent robot is normally embedded with the digital microcontroller, which has limited resources, the research on reducing energy usage resulting from communication [54,55], actuators [56] and trajectory [57] have become recent hot topics in multi-agent research, and this area is also known as "energy aware" [58] or "energy efficient" [12,59] research.…”