Mobility Diversity-Assisted Wireless Communication for Mobile Robots

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 di...

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Bibliographic Details
Published in:IEEE transactions on robotics 2016-02, Vol.32 (1), p.214-229
Main Authors: Bonilla Licea, Daniel, Ghogho, Mounir, McLernon, Des, Zaidi, Syed Ali Raza
Format: Article
Language:English
Subjects:
Algorithms
Energy efficiency
Geometry
Mobile robots
Rayleigh channels
Robot kinematics
Robotics
Robots
Wireless communication
Wireless communications
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Summary: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 multithreshold 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.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2015.2513745