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

Waqas Afzal; Ahmad A. Masoud

doi:10.1109/ICRA.2017.7989734

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

Waqas Afzal, Ahmad A. Masoud

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

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.

Original language	English
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6198-6203
Number of pages	6
ISBN (Electronic)	9781509046331
DOIs	https://doi.org/10.1109/ICRA.2017.7989734
State	Published - 21 Jul 2017

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2017.7989734

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Afzal, W., & Masoud, A. A. (2017). Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 6198-6203). Article 7989734 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989734

Afzal, Waqas ; Masoud, Ahmad A. / Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 6198-6203 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "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.",

author = "Waqas Afzal and Masoud, \{Ahmad A.\}",

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year = "2017",

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language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Afzal, W & Masoud, AA 2017, Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989734, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6198-6203. https://doi.org/10.1109/ICRA.2017.7989734

Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information. / Afzal, Waqas; Masoud, Ahmad A.
ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 6198-6203 7989734 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - ICRA 2017 - IEEE International Conference on Robotics and Automation

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Afzal W, Masoud AA. Harmonic potential based communication-aware navigation and beamforming in cluttered spaces with full channel-state information. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 6198-6203. 7989734. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2017.7989734

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

Abstract

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ASJC Scopus subject areas

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