- About this Journal
- Abstracting and Indexing
- Aims and Scope
- Annual Issues
- Article Processing Charges
- Articles in Press
- Author Guidelines
- Bibliographic Information
- Citations to this Journal
- Contact Information
- Editorial Board
- Editorial Workflow
- Free eTOC Alerts
- Publication Ethics
- Reviewers Acknowledgment
- Submit a Manuscript
- Subscription Information
- Table of Contents
Journal of Robotics
Volume 2011 (2011), Article ID 340372, 19 pages
A Comprehensive Overview and Characterization of Wireless Channels for Networked Robotic and Control Systems
Department of Electrical and Computer Engineering, University of New Mexico, Albuquerque, NM 87131, USA
Received 25 July 2011; Accepted 11 October 2011
Academic Editor: Heinz Wörn
Copyright © 2011 Alejandro Gonzalez-Ruiz et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
- R. Olfati-Saber and R. M. Murray, “Distributed structural stabilization and tracking for formations of dynamic multi-agents,” in Proceedings of the 41st IEEE Conference on Decision and Control, pp. 209–215, Las Vegas, Nev, USA, December 2002.
- H. G. Tanner, A. Jadbabaie, and G. J. Pappas, “Stable flocking of mobile Agents, part I: fixed topology,” in Proceedings of the 42nd IEEE Conference on Decision and Control, pp. 2010–2015, Maui, Hawaii, USA, December 2003.
- S. Tatikonda, Control under communication constraints, Ph.D. dissertation, MIT, 2000.
- B. Grocholsky, J. Keller, V. Kumar, and G. Pappas, “Cooperative air and ground surveillance,” IEEE Robotics and Automation Magazine, vol. 13, no. 3, pp. 16–26, 2006.
- A. Rahmani, M. Ji, M. Mesbahi, and M. Egerstedt, “Controllability of multi-agent systems from a graph-theoretic perspective,” SIAM Journal on Control and Optimization, vol. 48, no. 1, pp. 162–186, 2009.
- G. Notarstefano, K. Savla, F. Bullo, and A. Jadbabaie, “Maintaining limited-range connectivity among second-order agents,” in Proceedings of the American Control Conference, pp. 2124–2129, June 2006.
- J. M. Esposito and T. W. Dunbar, “Maintaining wireless connectivity constraints for swarms in the presence of obstacles,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '06), pp. 946–951, May 2006.
- W. C. Jakes, Microwave Mobile Communications, Wiley-IEEE Press, New York, NY, USA, 1994.
- R. Davies, M. Bensebti, M. A. Beach, and J. P. McGeehan, “Wireless propagation measurements in indoor multipath environments at 1.7 GHz and 60 GHz for small cell systems,” in Proceedings of the 41st IEEE Vehicular Technology Conference, Gateway to the Future Technology in Motion, pp. 589–593, May 1991.
- T. S. Rappaport and S. Y. Seidel, “Multipath propagation models for in-building communications,” in Proceedings of the 5th International Conference on Mobile Radio and Personal Communications, pp. 69–74, 1989.
- H. Nikookar and H. Hashemi, “Statistical modeling of signal amplitude fading of indoor radio propagation channels,” in Proceedings of the 2nd International Conference on Universal Personal Communications, vol. 1, pp. 84–88, 1993.
- D. C. Cox, “910 MHz urban mobile radio propagation: multipath characteristics in New York city,” IEEE Transactions on Vehicular Technology, vol. 22, no. 4, pp. 104–110, 1973.
- D. C. Cox, “Delay doppler characteristics of multipath propagation at 910 MHz in a suburban mobile radio environment,” IEEE Transactions on Antennas and Propagation, vol. 20, no. 5, pp. 625–635, 1972.
- H. Hashemi, “Indoor radio propagation channel,” Proceedings of the IEEE, vol. 81, no. 7, pp. 943–968, 1993.
- T. S. Rappaport, Wireless Communications: Principles and Practice, Prentice-Hall, Upper Saddle River, NJ, USA, 2002.
- A. Goldsmith, Wireless Communications, Cambridge University Press, New York, NY, USA, 2005.
- D. Tse and P. Viswanath, Fundamentals of Wireless Communication, Cambridge University Press, New York, NY, USA, 2005.
- D. Porrat and D. C. Cox, “UHF propagation in indoor hallways,” IEEE Transactions on Wireless Communications, vol. 3, no. 4, pp. 1188–1198, 2004.
- J. Tsao, D. Porrat, and D. Tse, “Prediction and modeling for the time-evolving ultra-wideband channel,” IEEE Journal on Selected Topics in Signal Processing, vol. 1, no. 3, pp. 340–356, 2007.
- P. Kyritsi, D. C. Cox, R. A. Valenzuela, and P. W. Wolniansky, “Correlation analysis based on MIMO channel measurements in an indoor environment,” IEEE Journal on Selected Areas in Communications, vol. 21, no. 5, pp. 713–720, 2003.
- J. Ling, D. Chizhik, P. Wolinansky, R. A. Valenzuela, N. Costa, and K. Huber, “MIMO measurement in Manhattan,” in Proceedings of the 13th IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, vol. 4, pp. 1631–1635, 2002.
- W. M. Smith, Urban propagation modeling for wireless systems, Ph.D. dissertation, Stanford University, 2004.
- Y. Lustmann and D. Porrat, “Indoor channel spectral statistics, K-factor and reverberation distance,” IEEE Transactions on Antennas and Propagation, vol. 58, no. 11, Article ID 5559353, pp. 3685–3692, 2010.
- MobileRobots Inc., 2009, http://www.mobilerobots.com.
- Laird Technologies, 2010, http://www.lairdtech.com/Products/Antennas-and-Reception-Solutions/.
- N. Nakagami, “The m-distribution, a general formula for intensity distribution of rapid fading,” in Statistical Methods in Radio Wave Propagation, W. G. Hoffman, Ed., Pergamon, Oxford, UK, 1960.
- H. Hashemi, “A study of temporal and spatial variations of the indoor radio propagation channel,” in Proceedings of the 5th IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, vol. 1, pp. 127–134, 1994.
- V. Erceg, L. J. Greenstein, S. Y. Tjandra et al., “Empirically based path loss model for wireless channels in suburban environments,” IEEE Journal on Selected Areas in Communications, vol. 17, no. 7, pp. 1205–1211, 1999.
- S. S. Ghassemzadeh, L. J. Greenstein, A. Kavčić, T. Sveinsson, and V. Tarokh, “UWB indoor path loss model for residential and commercial buildings,” in Proceedings of the IEEE Vehicular Technology Conference (VTC '03), vol. 5, pp. 3115–3119, October 2003.
- A. Ghaffarkhah and Y. Mostofi, “Communication-aware motion planning in mobile networks,” IEEE Transactions on Automatic Control, vol. 56, no. 10, pp. 2478–2485, 2011.
- Y. Mostofi, M. Malmirchegini, and A. Ghaffarkhah, “Estimation of communication signal strength in robotic networks,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '10), pp. 1946–1951, Anchorage, Alaska, USA, May 2010.
- A. Ghaffarkhah and Y. Mostofi, “Channel learning and communication-aware motion planning in mobile networks,” in Proceedings of the American Control Conference (ACC '10), pp. 5413–5420, Baltimore, Md, USA, July 2010.
- M. Gudmundson, “Correlation model for shadow fading in mobile radio systems,” Electronics Letters, vol. 27, no. 23, pp. 2145–2146, 1991.
- Y. Mostofi, “Decentralized communication-aware motion planning in mobile networks: an information-gain approach,” Journal of Intelligent and Robotic Systems, vol. 56, no. 1-2, pp. 233–256, 2009.
- H. V. Poor, An Introduction to Signal Detection and Estimation, Springer, New York, NY, USA, 1994.
- A. Ghaffarkhah and Y. Mostofi, “Communication-aware navigation functions for robotic networks,” in Proceedings of the American Control Conference (ACC '09), pp. 1316–1322, St. Louis, Mo, USA, June 2009.
- M. Malmirchegini and Y. Mostofi, “On the spatial predictability of communication channels,” IEEE Transactions on Wireless Communications. In press.
- C. F. Yang, B. C. Wu, and C. J. Ko, “A ray-tracing method for modeling indoor wave propagation and penetration,” IEEE Transactions on Antennas and Propagation, vol. 46, no. 6, pp. 907–919, 1998.
- Remcom, 2010, http://www.remcom.com/wireless-insite/.
- X. Cai and G. B. Giannakis, “A two-dimensional channel simulation model for shadowing processes,” IEEE Transactions on Vehicular Technology, vol. 52, no. 6, pp. 1558–1567, 2003.
- S. A. Fechtel, “A novel approach to modeling and efficient simulation of frequency-selective fading radio channels,” IEEE Journal on Selected Areas in Communications, vol. 11, no. 3, pp. 422–431, 1993.
- Y. Mostofi, A. Gonzalez-Ruiz, A. Gaffarkhah, and D. Li, “Characterization and modeling of wireless channels for networked robotic and control systems—a comprehensive overview,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '09), pp. 4849–4854, St. Louis, Mo, USA, 2009.