Principles of Communication Systems
Principles of Communication Systems
Real Time Optimization by Extremum Seeking Control
Real Time Optimization by Extremum Seeking Control
Towards mobility as a network control primitive
Proceedings of the 5th ACM international symposium on Mobile ad hoc networking and computing
Brief Stability of extremum seeking feedback for general nonlinear dynamic systems
Automatica (Journal of IFAC)
Cooperative Strategies and Capacity Theorems for Relay Networks
IEEE Transactions on Information Theory
Movement control algorithms for realization of fault-tolerant ad hoc robot networks
IEEE Network: The Magazine of Global Internetworking
Robotic Routers: Algorithms and Implementation
International Journal of Robotics Research
An adaptive mobile robots tethering algorithm in constrained environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Information-Theoretic Integration of Sensing and Communication for Active Robot Networks
Mobile Networks and Applications
Secure cooperative ad hoc applications within UAV fleets
MILCOM'09 Proceedings of the 28th IEEE conference on Military communications
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Electronic chaining is the formation, and maintenance, of a linked communication chain that maximizes the end-to-end throughput using a cooperative team of mobile robotic relays. For this paper, an optimal communication chain is defined using the signal-to-noise ratio (SNR) of the communication links along the chain. By using the SNR of the individual communication channels, instead of relative position, an optimal communication chain of robotic relays is formed that is able to respond to changes in, and unexpected features of, the RF environment that is simply not possible with position based chaining solutions. Since the operating environment is generally not known a priori to deployment of a robotic sensor network, an adaptive model-free extremum seeking (ES) algorithm is presented to control the motion of 2D nonholonomic vehicles acting as communication relays. Even without specific knowledge of the SNR field, the ES algorithm is able to drive the team of vehicles to optimal locations with only local measures of the SNR. A specific application using unmanned aircraft is simulated to highlight the fact that the performance of the ES chaining algorithm is limited due to the performance constraints and capabilities of the individual vehicles within the chain.