A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems
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 f...
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2011/340372 |
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| _version_ | 1832554157519667200 |
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| author | Alejandro Gonzalez-Ruiz Alireza Ghaffarkhah Yasamin Mostofi |
| author_facet | Alejandro Gonzalez-Ruiz Alireza Ghaffarkhah Yasamin Mostofi |
| author_sort | Alejandro Gonzalez-Ruiz |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-774a431ac7ec45e598d05d9e50d12be0 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-774a431ac7ec45e598d05d9e50d12be02025-02-03T05:52:18ZengWileyJournal of Robotics1687-96001687-96192011-01-01201110.1155/2011/340372340372A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control SystemsAlejandro Gonzalez-Ruiz0Alireza Ghaffarkhah1Yasamin Mostofi2Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131, USADepartment of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131, USADepartment of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131, USAThe 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.http://dx.doi.org/10.1155/2011/340372 |
| spellingShingle | Alejandro Gonzalez-Ruiz Alireza Ghaffarkhah Yasamin Mostofi A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems Journal of Robotics |
| title | A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems |
| title_full | A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems |
| title_fullStr | A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems |
| title_full_unstemmed | A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems |
| title_short | A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems |
| title_sort | comprehensive overview and characterization of wireless channels for networked robotic and control systems |
| url | http://dx.doi.org/10.1155/2011/340372 |
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