A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems

Autor: Alejandro Gonzalez-Ruiz, Alireza Ghaffarkhah, Yasamin Mostofi
Jazyk: angličtina
Rok vydání: 2011
Předmět:
Zdroj: Journal of Robotics, Vol 2011 (2011)
Druh dokumentu: article
ISSN: 1687-9600
1687-9619
DOI: 10.1155/2011/340372
Popis: The goal of this overview paper is to serve as a reference for researchers that are interested in the realistic modeling of wireless channels for the purpose of analysis and optimization of networked robotic systems. By utilizing the knowledge available in the wireless communication literature, we first summarize a probabilistic framework for the characterization of the underlying multiscale dynamics of a wireless link. We furthermore confirm this framework with our robotic testbed, by making an extensive number of channel measurements. To show the usefulness of this framework for networked robotic applications, we then discuss a few recent examples where this probabilistic channel characterization has been utilized for the theoretical analysis and communication-aware design of networked robotic systems. Finally, we show how to develop a realistic yet simple channel simulator, which can be used to verify cooperative robotic operations in the presence of realistic communication links.
Databáze: Directory of Open Access Journals
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