USING ROBOT MOBILITY TO EXPLOIT MULTIPATH FADING
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
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.
Communication system control, Fading, Filling, Mobile communication, Mobile robots, Motion control, Motion measurement, Position measurement, Throughput, Time measurement
IdentifiersURN: urn:nbn:se:kth:diva-18201DOI: 10.1109/MWC.2009.4804366ISI: 000263641100006ScopusID: 2-s2.0-63749132433OAI: oai:DiVA.org:kth-18201DiVA: 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 201005252011-11-162010-08-052012-01-16Bibliographically approved