Trajectory planning for energy-efficient robots with communications constraints

Abstract : The new problem of optimizing a wireless mobile terminal trajectory under a given communication constraint is introduced. The mobile has to move from a given point to a target point while uploading/downloading a given amount of data. For this, it has to be sufficiently close to the wireless base station, while accounting for the energy cost due to motion. This setup leads us to determining non-trivial trajectories for the mobile. Remarkably, a counterpart of the Snell-Descartes' law established in optics for the light propagation is exhibited for the optimal trajectory.
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Daniel Bonilla, Vineeth Varma, Samson Lasaulce, Jamal Daafouz, Mounir Ghogho. Trajectory planning for energy-efficient robots with communications constraints. The International Conference on Wireless Networks and Mobile Communications, Wincom'16, Oct 2016, Fez, Morocco. 〈10.1109/wincom.2016.7777225 〉. 〈hal-01407872〉

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