Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
USING ROBOT MOBILITY TO EXPLOIT MULTIPATH FADING
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2009 (English)In: IEEE wireless communications, ISSN 1536-1284, E-ISSN 1558-0687, Vol. 16, no 1, 30-37 p.Article in journal (Refereed) Published
Abstract [en]

Communication-aware motion control allows mobile networked robots to increase the average communication throughput. We exploit that in a multipath fading channel, robots can measure the SNR and adapt their motion to spend slightly more time at positions where the channel is good. Two new such cross-layer strategies are analyzed and evaluated: periodic stopping, where the stop duration is a function of the SNR, and controlled stopping, where the robot stops when the communication buffer is filling up. It is shown that the expected average channel capacity can be twice as high as when no cross-layer information is utilized. Experimental evaluation of the strategies confirms the theoretical results.

Place, publisher, year, edition, pages
IEEE , 2009. Vol. 16, no 1, 30-37 p.
Keyword [en]
Communication system control, Fading, Filling, Mobile communication, Mobile robots, Motion control, Motion measurement, Position measurement, Throughput, Time measurement
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-18201DOI: 10.1109/MWC.2009.4804366ISI: 000263641100006Scopus ID: 2-s2.0-63749132433OAI: oai:DiVA.org:kth-18201DiVA: diva2:336247
Note
© 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20100525Available from: 2011-11-16 Created: 2010-08-05 Last updated: 2012-01-16Bibliographically approved

Open Access in DiVA

fulltext(322 kB)150 downloads
File information
File name FULLTEXT01.pdfFile size 322 kBChecksum SHA-512
64b3f7bd09ff4dea746a5b0da40b523883acdaa4a9e140c2e272f984002e35a6bdfb922792ac4d40410abaea1c9a43b874cbb01876850e9fc4f44f0f92bbdda9
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopusPublished version

Authority records BETA

Johansson, Karl H.

Search in DiVA

By author/editor
Lindhé, M.Johansson, Karl H.
By organisation
Automatic ControlACCESS Linnaeus Centre
In the same journal
IEEE wireless communications
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 150 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 54 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf