Communication-Motion Planning for Wireless Relay-Assisted Multi-Robot System

This letter focuses on a scenario in which a team of sensing robots survey an area with predefined routes, and transmit the monitored information to a remote base station through a mobile relay. In this scenario, automatically adjusting the position of the mobile relay for maintaining wireless link...

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Bibliographic Details
Published in:IEEE wireless communications letters 2016-12, Vol.5 (6), p.568-571
Main Authors: Wu, Yunlong, Zhang, Bo, Yi, Xiaodong, Tang, Yuhua
Format: Article
Language:English
Subjects:
approximate dynamic programming
Base stations
Dynamic programming
Energy consumption
Mobile communication
Motion planning
Multiple robots
Optimal communication-motion planning
Optimization
Radio equipment
Relay
Relays
Robot dynamics
Robot sensing systems
robots
Wireless communications
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Summary:This letter focuses on a scenario in which a team of sensing robots survey an area with predefined routes, and transmit the monitored information to a remote base station through a mobile relay. In this scenario, automatically adjusting the position of the mobile relay for maintaining wireless link quality while the sensing robots are moving is a challenging problem. In this letter, we consider the problem of minimizing the total energy consumption. We propose using dynamic programming (DP) and single-step optimization. By comparing the pros and cons of both methods, we propose a novel approximate optimal communication-motion planning (AOCMP) method based on approximate dynamic programming (ADP). Simulation results demonstrate that AOCMP may sharply decrease the computation time compared with DP, while performs better than single-step optimization which proves that AOCMP achieves a beneficial energy-complexity tradeoff for solving high-dimension problems.
ISSN:2162-2337
2162-2345
DOI:10.1109/LWC.2016.2601612