Communication-aware trajectory tracking
2008 (English)In: 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, IEEE , 2008, 1519-1524 p.Conference paper (Refereed)
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. 1519-1524 p.
, IEEE international conference on robotics and automation, ISSN 1050-4729
Communication system control, Dynamic programming, Fading, Infrared imaging, Optimal control, Reflection, Robot sensing systems, Robot vision systems, Robotics and automation, Trajectory
IdentifiersURN: urn:nbn:se:kth:diva-26531DOI: 10.1109/ROBOT.2008.4543417ISI: 000258095001029ScopusID: 2-s2.0-51649101692ISBN: 978-1-4244-1646-2OAI: oai:DiVA.org:kth-26531DiVA: diva2:387489
IEEE International Conference on Robotics and Automation Pasadena, CA, MAY 19-23, 2008
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QC 201101142011-11-172010-11-252012-02-01Bibliographically approved