DocumentCode :
1761006
Title :
A Communication Model to Decouple the Path Planning and Connectivity Optimization and Support Cooperative Sensing
Author :
Chunbo Luo ; McClean, S.I. ; Parr, Gerard ; Qi Wang ; Xinheng Wang ; Grecos, Christos
Author_Institution :
Sch. of Comput., Univ. of the West of Scotland, Paisley, UK
Volume :
63
Issue :
8
fYear :
2014
fDate :
Oct. 2014
Firstpage :
3985
Lastpage :
3997
Abstract :
When multiple mobile robots (e.g., robotic equipment and unmanned aerial vehicles (UAVs)) are deployed to work cooperatively, it is usually difficult to jointly optimize the algorithms involving the following two aspects: finding optimal paths and maintaining reliable network connectivity. This is due to the fact that both these objectives require the manipulation of sensors´ physical locations. We introduce a new relay-assisted communication model to decouple these two aspects so that each one can be optimized independently. However, using additional relay nodes is at the expense of an increased number of transmissions and reduced spectrum efficiency. Theoretical results based on mutual information and average data rate of the model reveal that such drawbacks can be compensated if the sensor nodes are carefully arranged into groups. Based on these results, we further propose a pairing strategy to maximize the spectrum efficiency gain. Simulation experiments have confirmed the performance of this strategy in terms of improved efficiency. We provide a simple example to demonstrate the application of this model in cooperative sensing scenarios where multiple UAVs are deployed to explore an unknown area.
Keywords :
autonomous aerial vehicles; cooperative communication; mobile radio; mobile robots; optimisation; path planning; radio spectrum management; relay networks (telecommunication); telecommunication network planning; wireless sensor networks; UAV; connectivity optimization; cooperative sensing scenarios; mobile robots; network connectivity; path planning; relay nodes; relay-assisted communication model; robotic equipment; sensor nodes; spectrum efficiency gain; unmanned aerial vehicles; Data models; Mutual information; Noise; Relays; Robot sensing systems; Wireless sensor networks; Connectivity; cooperative sensing; optimization; path planning; sensor networks; unmanned aerial vehicle (UAV); wireless communication;
fLanguage :
English
Journal_Title :
Vehicular Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9545
Type :
jour
DOI :
10.1109/TVT.2014.2305474
Filename :
6736065
Link To Document :
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