Related papers: Communication-Aware Energy Efficient Trajectory Pl…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
Wireless communication with unmanned aerial vehicles (UAVs) is a promising technology for future communication systems. In this paper, we study energy-efficient UAV communication with a ground terminal via optimizing the UAV's trajectory, a…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
We consider a scenario where an UAV-mounted flying base station is providing data communication services to a number of radio nodes spread over the ground. We focus on the problem of resource-constrained UAV trajectory design with (i)…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
This paper studies unmanned aerial vehicle (UAV) enabled wireless communication, where a rotarywing UAV is dispatched to send/collect data to/from multiple ground nodes (GNs). We aim to minimize the total UAV energy consumption, including…
This paper presents a new cooperative wireless communication network strategy that incorporates energy cooperation and data cooperation. The model establishment, design goal formulations, and algorithms for throughput maximization of the…
It has been shown that using appropriate channel coding schemes in wireless environments, transmission energy can be significantly reduced by controlling the packet transmission rate. This paper seeks optimal solutions for downlink…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
We study the optimal routing on multilayered communication networks, which are composed of two layers of subnetworks. One is a wireless network, and the other is a wired network. We develop a simple recurrent algorithm to find an optimal…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…
In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots'…
The energy-efficient trip allocation of mobile robots employing differential drives for data retrieval from stationary sensor locations is the scope of this article. Given a team of robots and a set of targets (wireless sensor nodes), the…
The cognitive radio wireless sensor networks have become an integral part of communicating spectrum information to the fusion center, in a cooperative spectrum sensing environment. A group of battery operated sensors or nodes, sensing…
This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is…
This paper introduces algorithms for target tracking in wireless sensor networks (WSNs) that enable reduction of data communication cost. The objective of the considered problem is to control movement of a mobile sink which has to reach a…
In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited…
The energy use of a robot is trajectory-dependent, and thus can be reduced by optimization of the trajectory. Current methods for robot trajectory optimization can reduce energy up to 15\% for fixed start and end points, however their use…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…