Experimental Validation of Deterministic Radio Propagation Model developed for Communication-aware Path Planning

Shreya Santra, Leonard B. Paet, Mickael Laine, Kazuya Yoshida, Emanuel Staudinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Large scale planetary surface exploration by a multi-robot system requires collective behavior and information exchange between the agents, which demands for a valid communication model. This paper aims to validate a proposed deterministic radio propagation model developed towards coordinated path planning of multi-robot systems, by the means of terrestrial experiments. The model developed for planetary surface exploration considers the specific characteristics of the site and low-heighted antennas of micro-rovers to determine the point-to-point signal quality. For validation purposes, the terrain geometry of the experiment site on Earth is studied, and the propagation parameters are adjusted accordingly. The point-to-point communication links for three different carrier frequencies and two different transmitter antenna heights are measured. The model was then updated such that the received signal strength and the path gains from the measured data fit well with the predicted data. Therefore, the developed radio propagation model with the required adjustments can be applied for communication-aware path planning of moving rovers on any planetary surface if the topography of the operating region is known in advance.

Original languageEnglish
Title of host publication2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PublisherIEEE Computer Society
Pages1241-1246
Number of pages6
ISBN (Electronic)9781665418737
DOIs
Publication statusPublished - 2021 Aug 23
Event17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
Duration: 2021 Aug 232021 Aug 27

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2021-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Country/TerritoryFrance
CityLyon
Period21/8/2321/8/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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