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Communication-aware trajectory tracking
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2008 (English)In: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, IEEE , 2008, p. 1519-1524Conference paper, Published paper (Refereed)
Abstract [en]

This paper investigates the scenario of a robot making a tradeoff between tracking a time-varying reference trajectory and stopping to communicate at points where the radio signal strength is high. Under the assumption that the signal is subject to multipath fading, we formulate this as a hybrid optimal control problem with penalties on tracking error, communication buffer length and control power. The problem is then solved using relaxed dynamic programming, resulting in control laws for the discrete switching sequence and the continuous control. We finally illustrate the results through simulations under non-ideal conditions, confirming that the system maintains a bounded buffer size and zero-mean tracking error.

Place, publisher, year, edition, pages
IEEE , 2008. p. 1519-1524
Series
IEEE international conference on robotics and automation, ISSN 1050-4729
Keyword [en]
Communication system control, Dynamic programming, Fading, Infrared imaging, Optimal control, Reflection, Robot sensing systems, Robot vision systems, Robotics and automation, Trajectory
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26531DOI: 10.1109/ROBOT.2008.4543417ISI: 000258095001029Scopus ID: 2-s2.0-51649101692ISBN: 978-1-4244-1646-2 (print)OAI: oai:DiVA.org:kth-26531DiVA, id: diva2:387489
Conference
IEEE International Conference on Robotics and Automation Pasadena, CA, MAY 19-23, 2008
Note
© 2008 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 20110114Available from: 2011-11-17 Created: 2010-11-25 Last updated: 2012-02-01Bibliographically approved

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Johansson, Karl Henrik

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