Interference Power Bound Analysis of a Network of Wireless Robots

Abstract

Abstract-We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of acceptable quality. Prior work has not addressed how to find this number. We use the properties of Carrier Sense Multiple Access (CSMA) based wireless communication to derive an upper bound on the spacing between any transmitter-receiver pair, which directly translates to a lower bound on the number of robots to deploy. We focus on SINR-based performance requirements due to their wide applicability. Next, we show that the bound can be improved by exploiting the geometrical structure of a network, such as linearity in the case of flow-based robotic router networks. Furthermore, we also use the bound on robot count to formulate a lower bound on the number of orthogonal codes required for a high probability of interference free communication. We demonstrate and validate our proposed bounds through simulations.

Robotic Wireless Sensor Networks

“…This data can be used to identify the RF properties in such environments that can be exploited to the advantage of RWSN system design. [38,40,41,43,46,47] • Offline: Modeling before deployment [50,51,55] Challenges • Sparse Sampling [38,40] • Future Location's Signal Prediction [46,47] • Temporal Dynamics [46] Available Theoretical Tools • Compressive Sampling [42] • Gaussian Process [52,55] • Fading Models [5] • Path Loss Models [5] Potential Future Directions…”

“…As mentioned earlier, one of the future directions would be to incorporate mobility control with MAC access protocols for better performance. Another future direction would be to use the knowledge of the MAC protocol to estimate signal properties such as Interference and SINR [181], and to control the link properties such as interference [227].…”

“…Signal attenuation factors due to presence of obstacles are taken into account in the work of Wang, Krishnamachari, and Ayanian [54]. Ghosh and Krishnamachari [55] have proposed a log normal model based stochastic bound on interference power and SINR for any RWSN. The works presented in [56][57][58] are also related to this context.…”

“…• Online: Modeling during deployment [38,40,41,43,46,47] • Offline: Modeling before deployment [50,51,55]…”

“…• Compressive Sampling [42] • Gaussian Process [52,55] • Fading Models [5] • Path Loss Models [5] Potential Future Directions…”