Channel learning and communication-aware motion planning in mobile networks

Abstract

In this paper we propose a communication-aware motion planning framework to ensure robust cooperative operation of a mobile network in realistic communication environments. We use a probabilistic multi-scale model for channel characterization. We then utilize our previously proposed model-based channel prediction framework in order to devise communication-aware motion-planning approaches. We first propose a motion generation strategy that optimally plans the trajectory of the robot in order to improve its channel learning in an environment. We then propose a communication-aware navigation approach in which link quality predictions are combined with sensing goals in order to ensure cooperative and networked task accomplishment. Our simulation results show the superior performance of our proposed communication-aware motion planning framework.