Learning control for transmission and navigation with a mobile robot under unknown communication rates

Learning control for transmission and navigation with a mobile robot under unknown communication rates

In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem of transmitting a data buffer in minimum time, while possibly...

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Hauptverfasser: Busoniu, L, Varma, V. S, Loheac, J, Codrean, A, Stefan, O, Morarescu, I. -C, Lasaulce, S
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Computer Science - Learning
Computer Science - Robotics
Computer Science - Systems and Control
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creator Busoniu, L
Varma, V. S
Loheac, J
Codrean, A
Stefan, O
Morarescu, I. -C
Lasaulce, S
description In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem of transmitting a data buffer in minimum time, while possibly also navigating towards a goal position. Two approaches are proposed, each consisting of a machine-learning component that estimates the rate function from samples; and of an optimal-control component that moves the robot given the current rate function estimate. Simple obstacle avoidance is performed for the case without a goal position. In extensive simulations, these methods achieve competitive performance compared to known-rate and unknown-rate baselines. A real indoor experiment is provided in which a Parrot AR.Drone 2 successfully learns to transmit the buffer.
doi_str_mv 10.48550/arxiv.2011.09193
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Computer Science - Robotics
Computer Science - Systems and Control
title Learning control for transmission and navigation with a mobile robot under unknown communication rates
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