Change search
ReferencesLink to record
Permanent link

Direct link
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
URN: urn:nbn:se:kth:diva-18201DOI: 10.1109/MWC.2009.4804366ISI: 000263641100006ScopusID: 2-s2.0-63749132433OAI: diva2:336247
© 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)126 downloads
File information
File name FULLTEXT01.pdfFile size 322 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopusPublished version

Search in DiVA

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

Search outside of DiVA

GoogleGoogle Scholar
Total: 126 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

Altmetric score

Total: 36 hits
ReferencesLink to record
Permanent link

Direct link