Title :
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
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;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738993
