NDLI: Adaptive communication-constrained deployment of mobile robotic networks

Content Provider	IEEE Xplore Digital Library
Author	Le Ny, J. Ribeiro, A. Pappas, G.J.
Copyright Year	2012
Description	Author affiliation: Dept. of Electr. & Syst. Eng., Univ. of Pennsylvania, Philadelphia, PA, USA (Le Ny, J.; Ribeiro, A.; Pappas, G.J.)
Abstract	Cooperation between multiple autonomous vehicles requires inter-vehicle communication, which in many scenarios must be established over an ad-hoc wireless network. This paper proposes an optimization-based approach to the deployment of such mobile robotic networks. A primal-dual gradient descent algorithm jointly optimizes the steady-state positions of the robots based on the specification of a high-level task in the form of a potential field, and routes packets through the network to support the communication rates desired for the application. The motion planning and communication objectives are tightly coupled since the link capacities depend heavily on the relative distances between vehicles. The algorithm decomposes naturally into two components, one for position optimization and one for communication optimization, coupled via a set of Lagrange multipliers. Crucially and in contrast to previous work, our method can rely on on-line evaluation of the channel capacities during deployment instead of a prespecified model. A randomized sampling scheme along the trajectories allows the robots to implement the algorithm with minimal coordination overhead.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	3742
Ending Page	3747
File Size	647940
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6314804
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robot kinematics Optimization Wireless communication Vectors Mobile communication Base stations
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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