Providing quality of service of information through mobility

This paper develops mobility control strategies for robotic agents to provide quality of service of information while carrying out active sensing tasks. Like wireless communication concepts of quality of service, a new metric is developed to encapsulate an aggregate measure of information gathering as a network service. This metric states that a given amount of information will be achieved in given time with a given probability. Conditions are given for when two of the three components can be specified independently with the third to be determined from them. Simulation results verify the ability of this new metric to bound system behavior.