Continuous path planning for a data harvesting mobile server

Author

Ny, Jerome Le ; Dahleh, Munther A. ; Feron, Eric ; Frazzoli, Emilio

Author_Institution

Lab. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA

fYear

2008

fDate

9-11 Dec. 2008

Firstpage

1489

Lastpage

1494

Abstract

We consider a queueing system composed of queues distributed at fixed locations in a continuous environment and a mobile server serving the jobs in the queues with spatially varying rates. For a fluid model of this system, we provide a necessary and sufficient stabilizability condition. Then we briefly investigate the question of server trajectory optimization for the problem of draining the initial fluid in two queues when no further arrivals occur.

Keywords

aerospace robotics; mobile radio; mobile robots; optimisation; path planning; position control; queueing theory; remotely operated vehicles; stability; continuous environment; continuous path planning; data harvesting mobile server; queueing system; server trajectory optimization; stabilizability condition; unmanned aerial vehicles; Base stations; Control systems; Mobile communication; Path planning; Queueing analysis; Relays; Routing; Sensor systems; Time measurement; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Conference_Location

Cancun

ISSN

0191-2216

Print_ISBN

978-1-4244-3123-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2008.4738993

Filename

4738993