Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information

Waqas Afzal; Ahmad A. Masoud

ICRA 2017poster4 citations

Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information

Abstract

In this paper, we introduce a communication-aware algorithm to navigate mobile agents with non-trivial dynamics in cluttered environments. The navigation technique is based on the Harmonic Potential Field (HPF) approach to motion-planning. The proposed approach employs beamforming at the Base-Station (BS) simultaneously with the robot's motion to increase the Channel Spectral Efficiency (CSE). The approach is developed and basic proofs of performance are provided. Realistic simulations using the WINNER-II wireless channel model are used to demonstrate the navigation algorithm.

BibTeX

@inproceedings{icra2017_harmonicpotentia,
  title = {Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information},
  author = {Waqas Afzal and Ahmad A. Masoud},
  booktitle = {ICRA 2017},
  year = {2017}
}